磁悬浮永磁直线电动机自抗扰控制器设计  

Auto Disturbances Rejection Controller Design of Magnetic Levitation Permanent Magnet Linear Motor

作　　者：蓝益鹏[1] 刘宇菲[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》2016年第6期96-98,102,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：磁悬浮永磁直线电动机实现了直接驱动和无摩擦进给,有效提高伺服系统的反应速度和精度。针对电动机运行中受到系统外扰和内扰的问题,将自抗扰控制器引入磁悬浮永磁直线电动机。首先,建立电动机在d-q坐标下的数学模型,分析系统非线性强耦合的本质原因;其次,将速度,d,q轴电流作为系统状态量,设计三个一阶自抗扰控制器。将电流间存在的耦合项视为系统内部扰动,应用扩张状态观测器估计系统输出和受到的综合扰动,并在反馈中加以补偿,实现系统的反馈线性化;最后,建立采用自抗扰控制的系统仿真模型。仿真结果表明,采用自抗扰控制的磁悬浮永磁直线电动机伺服系统具有良好的动态性能,并且能有效抑制内外扰动,具有很强的鲁棒性。Maglev permanent magnet linear motor achieves direct drive and frictionless feed and improves the response speed and precision of the servo system effectively. In view of the problem that motor disturbs by the external disturbances and perturbation in operation,introduce the ADRC to the maglev permanent magnet linear motor. First,establish the mathematical model in d-q coordinates and analysis the essential reasons of nonlinear and strong coupling. Second,design three ADRC controllers of one order with regarding the speed,d,q axis current as the system state quantities. The coupling between the currents will be seen as disturbances of the inner system,using the extended state observer to estimate the system output and the comprehensive disturbances,compensate in the feedback to realize the feedback linearization of the system. Finally,establish the simulation model of the control system. The result shows that,the maglev permanent magnet linear motor servo system with ADRC has well dynamic performance,restrains the internal and external disturbance effectively and has strong robustness.

关 键 词：磁悬浮永磁直线电动机 自抗扰控制 解耦控制 反馈线性化 

分 类 号：TH166[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]