基于内模原理的直线永磁同步伺服电机H_∞控制  

H_∞ Control Based on Internal Model Theory for Linear Permanent Magnet Synchronous Servo Motor (LPSM)

作　　者：郭庆鼎[1] 孙艳娜[1] 

机构地区：[1]沈阳工业大学电气工程系,沈阳110023

出　　处：《控制理论与应用》2000年第4期509-512,518,共5页Control Theory & Applications

基　　金：国家自然科学基金!( 5 9875 0 61)

摘　　要：在速度伺服系统中 ,为保证对干扰有良好的动态抑制作用且无静态扰动误差 ,同时使系统具有鲁棒稳定性 ,采用输出点混合灵敏度的方法 ,并将内模原理与H∞ 控制理论相结合设计了H∞ 速度控制器 .实际求解标准H∞问题时 ,在扰动通道内引入近似内模 ,以使问题简化且满足高性能的要求 .为充分抑制负载阻力扰动 ,还设计了一个H∞ 负载扰动观测器 ,该观测器可以自动保证观测结构的鲁棒稳定性 .In the speed servo system, in order to restrain the disturbance of speed servo system dynamically and without static error induced by disturbance and guarantee robust stability, the approach of output point mixed sensitivity is adopted. At the same time, H ∞ control theory is combined with internal model theory to design an H ∞ speed controller. In the process of seeking the solutions to the standard H ∞ control problem, an approximate internal model is introduced into disturbance path, whose purpose is to simplify the design and satisfy the high powered servo requirement. On the other hand, an H ∞ load disturbance observer is designed which achieves the disturbance cancellation and guarantees robust stability automatically.

关 键 词：H∞控制 内模原理 直线永磁同步伺服电机 

分 类 号：TP276[自动化与计算机技术—检测技术与自动化装置]