基于ZPETC和DOB的直线电机控制器设计及实验研究  

ZPETC and DOB Based Controller Design for PMLSM and Experimental Investigation

作　　者：李志军[1] 刘成颖[1] 孟凡伟[1] 周凯[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京市海淀区100084

出　　处：《中国电机工程学报》2012年第24期134-140,21,共7页Proceedings of the CSEE

基　　金：国家科技重大专项(2011ZX04016-011;2009ZX04010-022)~~

摘　　要：直线电机驱动系统中存在的负载力、推力波动等干扰力会引起跟踪误差,降低跟踪性能。干扰观测器可以检测并补偿干扰,有效提高系统的抗干扰能力。前馈控制是提高系统跟踪性能的另一种方法,如直接速度前馈控制器、零相位误差跟踪控制器等,可以有效提高系统带宽,提高跟踪性能。针对直线电机在抗干扰和动态响应方面的需求,该文研究了基于直接速度前馈控制器、零相位跟踪控制器和干扰观测器的直线电机控制方法,并给出实验结果。结果表明,直接速度前馈控制器使位置能够无静地跟踪二阶指令输入,干扰观测器能够很好的抑制推力波动和摩擦力的影响,零相位跟踪控制器能够提高位置闭环带宽,改善跟踪性能,特别是三阶位置指令输入时的跟踪误差。The tracking performance of linear motor drive system is greatly deteriorated by the disturbances, such as load force, force ripple etc. Disturbance observer （DOB） is one of the most widely used methods to compensate disturbances, improving robustness to external disturbances. Feed Forward controller is another method to improve the tracking performance, which includes zero-phase error tracking controller （ZPETC）, direct velocity feed forward （FFV） etc. This paper proposed to combine the FFV, DOB and ZPETC with conventional PID controller to improve the robustness and dynamics. Experimental results were given to confirm the following declarations. With addition of FFV, static error when tracking 2-order trajectory was eliminated. Disturbances like force ripple and friction were greatly suppressed by DOB. Finally, the tracking performance was improved to large extent when tracking 3-order trajectory, which was due to the enlarged position loop bandwidth.

关 键 词：直线电机 零相位跟踪控制器 干扰观测器 

分 类 号：TM85[电气工程—高电压与绝缘技术]