直线电机悬浮平台的μ-Η_∞鲁棒控制  

μ-H_∞ robust control for linear motor levitation platform

作　　者：孙宜标[1] 毛爽[1] 夏加宽[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》2014年第1期7-12,共6页Journal of Shenyang University of Technology

基　　金：教育部博士学科点专项科研基金资助项目(20102102110001)

摘　　要：针对直线电机悬浮平台系统采用直接驱动方式易受参数变化、负载扰动、端部效应和齿槽效应等不确定性因素影响的问题,在系统模型反馈线性化的基础上,结合鲁棒控制器的设计方法和μ综合D-K迭代法,分别对悬浮平台系统的水平方向和竖直方向设计μ-Η∞速度控制器.与速度控制器相比,该控制器具有更好的鲁棒性和快速性.仿真结果表明,采用了μ-Η∞控制策略的系统对不确定性因素的影响有很好的抑制能力,实现了悬浮平台系统对定位精度、快速性和鲁棒性的要求.In order to solve the problem that the linear motor levitation platform with direct driving mode is easily affected by such uncertain factors as the parameter variation, load disturbance, end effect and cogging effect, the μ-H∞ speed controllers for both horizontal and vertical directions of levitation platform system were respectively designed through combining the design method for H∞ robust controllers and D-K iteration method for μ-synthesis and based on the feedback linearization of system model. Compared with the H∞ speed controller, the proposed μ-H∞ controllers exhibit better robustness and speediness. The simulated results show that the system with μ-H∞ robust control strategy has great inhibitory ability to the influence of uncertain factors, and can realize the requirements of levitation platform system in the positioning accuracy, speediness and robustness.

关 键 词：直线电机悬浮平台 μ-H∞速度控制器 Μ综合 D—K迭代法 反馈线性化 参数变化 干扰抑制 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]