永磁直线伺服系统自适应模糊鲁棒控制器  

Adaptive fuzzy robust controller for permanent magnet linear servo system

作　　者：蓝益鹏[1] 李宝智[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《沈阳工业大学学报》2009年第6期622-627,共6页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(50975181);辽宁省教育厅科学研究计划资助项目(2004D040)

摘　　要：为了保证永磁直线伺服系统的跟踪性能,消除负载扰动、端部效应、非线性摩擦及系统参数变化等不确定因素的影响,根据自适应模糊控制和H∞鲁棒控制提出了相应的控制策略.控制器由自适应模糊控制项和H∞鲁棒控制项组成,自适应模糊控制项用来逼近理想控制律;H∞鲁棒控制项用来克服模糊逼近误差和外界干扰对输出跟踪误差的影响,并利用Lyapunov稳定性理论证明了系统的全局稳定性.仿真结果表明,该方案有很强的鲁棒性,同时也使系统具有较好的跟踪性能,大大提高了直接驱动直线伺服系统的鲁棒跟踪精度.To ensure the tracking capability of permanent-magnet linear servo system and eliminate the influence of the uncertainties such as the load disturbance, end effect, nonlinear friction and system parameter variation, a tracking control strategy based on both adaptive fuzzy control and H∞ robust control was proposed. The controller consists of an adaptive fuzzy controller and a H∞ robust controller. The adaptive fuzzy controller was used to approximate the ideal control law and the H∞ robust controller was designed for overcoming the approximation error and the influence of external disturbance. The global stability of the system was proved via the Lyapunov stability theory. The simulation results show that the present control scheme has not only the strong robustness to uncertainties of the linear system, but also exhibits good tracking performance. The control method greatly improves the robust tracking precision of the direct drive linear servo system.

关 键 词：永磁直线同步电动机 直接驱动 端部效应 自适应模糊控制 H∞鲁棒控制 跟踪误差 LYAPUNOV稳定性 跟踪性能 

分 类 号：TM383.4[电气工程—电机]