永磁同步直线电机伺服系统负载扰动建模与抑制  

Load Disturbance Modeling and Suppression for Permanent Magnet Linear Synchronous Motor Servo System

作　　者：甄文喜[1] 戴跃洪[1] 唐传胜[1] 

机构地区：[1]电子科技大学机械电子工程学院,成都611731

出　　处：《组合机床与自动化加工技术》2013年第2期7-10,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家科技重大专项(2009ZX04001-013-04)

摘　　要：针对直线电机伺服系统没有中间传动机构,负载扰动严重影响系统伺服性能这一问题,文章在建立永磁同步直线电机伺服系统负载扰动模型的基础上,提出了一种改进型的扰动补偿器与复合控制器相结合的扰动抑制方法。该方法采用在线扰动观测与补偿器来实时估计源于摩擦力、纹波推力等扰动并进行补偿,并且通过设置电流增益来改善扰动补偿器的动态性能,减少系统响应时间。速度环采用PI与重复控制相结合的复合控制方式,实现速度的精准控制。通过仿真验证,该扰动抑制方法不仅能减小系统的响应时间,而且提高了直线电机伺服系统的控制精度和鲁棒性。For the problem of linear motor servo system which has no middle transmission mechanism and the load disturbance influences the performance of the servo system seriously. In this paper, author establishes a load disturbance model of the permanent magnet linear synchronous motor（PMLSM） servo system and puts forward an method which combined the modified disturbance compensator with the com- posite control to suppress load disturbance. The method applies the online disturbance observer and com- pensator to real-time estimate disturbance from friction, ripple thrust, it is not only improving the dynam- ic performance of the disturbance compensator, but reducing the system response time by setting up cur- rent gain. The PI-Repetitive controller can control accurately speed. Simulation shows that this method of disturbance suppression can not just decrease the response time, more than improve the control accuracies and robustness of linear motor servo system.

关 键 词：直线电机 伺服系统 复合控制 负载扰动补偿 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]