复合A/C轴直接驱动伺服系统混合灵敏度l_1速度控制  

Mixed Sensitivity l_1 Speed Control for Compound A/C axe Direct Drive Servo System

作　　者：孙宜标[1] 王通[1] 孙晓雨[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110178

出　　处：《组合机床与自动化加工技术》2010年第3期38-42,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(50375102);辽宁省教育厅基金项目(2009A554)

摘　　要：复合A/C轴摆头直接驱动环形永磁力矩电机伺服系统易受负载扰动和参数不确定性的影响,使其伺服性能大大降低。文章提出采用l1控制策略设计环形永磁力矩电机速度控制器。以混合灵敏度函数的l1范数为性能指标,通过优化控制器来最小化最坏情况下干扰所引起的峰值误差使系统具有较强的抗干扰性,同时削弱模型不确定性对系统稳定性的影响。仿真结果表明,所设计的混合灵敏度l1速度控制器使复合A/C轴摆头直接驱动环形永磁力矩电机伺服系统对负载扰动及系统参数不确定性具有较强的鲁棒性。Compound A/C axe double-swivel milling heads direct drive permanent magnet ring torque motor servo system suffers from the load disturbances and parametric uncertainties, which reduce the system servo performances greatly. In this paper l1 control method is adopted to design speed controller for the direct drive rotary feeding system. The l1 norm of mix-sensitive function is considered as the performance index. In order to obtain better interference rejection, the system controller is optimized to minimize the peak-peak value error of the worst case, as well as weaken the effects involved by mode uncertainties on system stability. According to the given controller＇ s order, the problem of infinite dimension Il is shaped into finite dimension linear programs. The simulation results show that this control scheme is effective in robustness against load disturbances and parametric variations.

关 键 词：复合A/C轴 直接驱动 环形永磁力矩电机 混合灵敏度函数 l1速度控制器 鲁棒控制 

分 类 号：TH165[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]