直线伺服系统非线性自适应鲁棒控制器的优化设计  

Optimize design of nonlinear adaptive robust controller for linear servo system

作　　者：蓝益鹏[1] 赵辉[1] 孙文义[1] 郭庆鼎[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110178

出　　处：《控制与决策》2010年第2期223-226,231,共5页Control and Decision

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

摘　　要：对永磁直线电动机伺服系统提出了非线性自适应鲁棒控制器的优化设计方法.在系统非线性数学模型的基础上,建立了误差系统的动态模型.将跟踪和干扰抑制归结为非线性自适应鲁棒控制器的设计问题,通过构造存储函数得到自适应鲁棒控制器的定理,以及电阻和电感的辨识算法.证明了定理给出的控制器能满足干扰抑制和系统渐近稳定,并用遗传算法对控制器的参数进行优化.仿真结果验证了该方法是有效的.This paper presents a nonlinear adaptive robust controller optimize design based on genetic algorithm for permanent magnet linear motor servo system. On the basis of the system nonlinear mathematical model,an error system dynamic equation is set up. The track and disturbance restraint are summed up to nonlinear adaptive robust control question. Furthermore,a theory including formulaes of resistance and inductance identification used to describe nonlinear adaptive robust controller is obtained by defining storage function. The nonlinear adaptive robust control law which meets disturbance restraint and asymptotical stability is proved. Finally,genetic algorithm is used to optimize parameters of nonlinear adaptive robust controller. The simulation results show the effectiveness of the designed controller.

关 键 词：直线电机 自适应控制 鲁棒控制 遗传算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]