基于零相位误差跟踪的直线伺服系统重复控制  

Repetitive Control for Linear Servo System Based on Zero Phase Error Tracking

作　　者：孙宜标[1] 闫峰[1] 刘春芳[1] 翟慧萍[1] 

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110178

出　　处：《制造技术与机床》2010年第4期55-58,共4页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金项目(50805098)

摘　　要：永磁直线同步电动机(PMLSM)伺服系统在跟踪周期性输入时,PMLSM的端部效应和摩擦力所造成的周期性推力波动影响系统的跟踪精度。同时,电动机本身所存在的响应滞后会造成输入与输出之间的相位差,影响系统的跟踪性能。为达到零相位误差跟踪的目的,速度控制器采用伪微分前馈反馈(PDFF),位移控制器采用零相位误差跟踪重复控制(ZPETRC),将重复控制(RC)和零相位误差跟踪控制(ZPETC)相结合,重复控制用以抑制周期性跟踪误差,零相位误差跟踪控制用以减小系统的相位差,实现对周期性输入信号的精确跟踪。理论推导与仿真结果表明,该控制方案有效地抑制PMLSM伺服系统的周期性跟踪误差,补偿了时间滞后所造成的相位误差,使系统对周期性输入信号具有良好的跟踪特性。Permanent-magnet linear synchronous motor（ PMLSM ） servo system which has tracked periodic input signal, and the periodic thrust ripple caused by ending effect and friction has reduced tracking precision of the servo system. At the same time, the response delay of PMLSM has caused the phase error between input and output, which has influence on tracking performance of the system. To achieve the goal of zero phase error tacking, the controller was designed, which consists of PDFF（Pseudo derivative feedback with feed- forward） controller on the velocity loop and zero phase error tracking repetitive controller （ ZPETRC ） on the position loop. ZPETRC associated repetitive control （ RC ） with zero phase error tracking control（ZPETC）. RC can restrain the periodic tracking error, and ZPETC can reduce the phase error. Theoretical analysis and simulation results show that the proposed scheme can efficaciously restrain the periodic tracking error of PMLSM servo system, and compensate for the phase error caused by time delay, thus make the system have good position-tracking performance for the periodically input signal.

关 键 词：永磁直线同步电动机 重复控制 PDFF控制 零相位误差跟踪控制 周期性扰动 

分 类 号：TM303.2[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]