基于H_∞最优控制的PMLSM伺服系统鲁棒重复控制  

Robust repetitive control for permanent-magnet linear synchronous motor servo system based on H_∞ optimal control

作　　者：孙宜标[1] 王欢[1] 杨俊友[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》2012年第3期241-246,共6页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(51075281)

摘　　要：永磁直线同步电动机(PMLSM)在跟踪周期性输入时,其参数变化、负载扰动和摩擦力会降低系统的伺服性能,为此设计了一种基于H∞最优理论的鲁棒位移重复控制器.将重复控制器中的延迟环节看作是一个稳定的摄动Δ1(s),把被控对象中包含的不确定性因素看作另一摄动Δ2(s),故可将伺服系统看作是包含2个摄动的不确定系统,进而可以把鲁棒重复控制问题转化成H∞最优控制问题,使用H∞最优理论同时设计了反馈控制器和重复控制器.理论推导与仿真结果表明,该方案有效提高了系统的跟踪精度和鲁棒性.In the tracking process of periodic input for permanent-magnet linear synchronous motor （PMLSM）, the parameter variation, load disturbance and frictional force would decreace the servo performance of the system. Therefore, a robust displacement repetitive controller based on H∞ optimal theory was designed. The delay linkage in the repetitive controller was considered as a stable perturbation △1 （ s）, and the uncertain factors included in the controlled object were taken as another perturbation △2 （s）. Thus, the servo system could be regarded as an uncertain system containing two perturbations, and then the robust repetitive control problem could be converted into the H∞ optimal control problem. Both feedback controller and repetitive controller were simultaneously designed with H∞ optimal theory. The theoretical derivation and simulation results show that the proposed scheme can improve the tracking accuracy and robustness of the system effectively.

关 键 词：永磁直线同步电动机 直接驱动 周期性输入 参数变化 重复控制 鲁棒性能 H∞最优控制 伪微分反馈前馈控制 

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]