参数不确定性的磁悬浮直线伺服系统非脆弱H_∞控制器设计  

Non-fragile H_∞ Controller Design for Magnetic Levitation Linear Servo System of Uncertain Parameters

作　　者：蓝益鹏[1] 贺伟[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《组合机床与自动化加工技术》2013年第11期85-87,91,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(50975181)

摘　　要：由于磁悬浮永磁直线电机伺服系统数学模型参数存在摄动,并且其控制器参数也存在摄动,因此,基于线性矩阵不等式(LMI)理论,提出设计非脆弱鲁棒控制器来抑制被控对象以及控制器参数摄动。首先,采用矢量控制方法中的i d=0控制策略,把非线性系统解耦成独立的线性电流子系统和速度子系统,进而,通过构造Lyapunov函数,得到磁悬浮直线伺服系统渐近稳定的条件。其次,根据H∞性能指标与线性矩阵不等式的等价性,将控制器设计转化为对LMI的求解,推导出满足H∞性能指标的参数不确定性磁悬浮直线伺服系统控制器。最后,对自行设计的具有参数不确定性磁悬浮直线伺服系统进行仿真研究,结果表明在系统模型和控制器中同时存在不确定性因素时,鲁棒非脆弱H∞控制器能够保证系统的稳定和满足性能指标。Since magnetic levitation permanent magnet linear motor servo system model parameters exist perturbation, and the controller parameters present perturbation, so based on LMI, non-fragile controller is designed to restrain the influence of uncertain factors and perturbation. First, the id =0 method which is one of vector control＇ s methods is used for decoupling the nonlinear system to unattached linear current subsystem and speed subsystem, then, by constructing Lyapunov function, the asymptotic stability condi- tion of the magnetic levitation linear servo system is obtained. Second, according to the H∞ performance and the LMI equivalence, design effort converts into finding solution by LMI method, the controller which meets H∞ performance of the system is derived. Finally, the research on simulation for the control system is made. The result indicates the system model and controller exist uncertainties at the same time, the robust non-fragile controller can guarantee the stability of the closed-loop system and satisfy the per- formance index.

关 键 词：磁悬浮永磁直线电动机 不确定性系统 非脆弱控制 线性矩阵不等式 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]