一种基于PLDOB的PMLSM伺服系统长期稳定运行的方法  

Method of PMLSM servo system long-term stable operation based on periodic learning disturbance observer

作　　者：赵希梅[1] 武文斌 朱国昕[1] ZHAO Xi-mei;WU Wen-bin;ZHU Guo-xin(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110870

出　　处：《电机与控制学报》2018年第5期110-116,共7页Electric Machines and Control

基　　金：国家自然科学基金(51175349);辽宁省自然科学基金计划重点项目(20170540677);辽宁省教育厅科学技术研究项目(LQGD2017025)

摘　　要：执行重复性运动任务的永磁直线同步电动机(PMLSM)伺服系统易受参数变化、未建模动态、摩擦力和推力波动等周期性扰动的影响,导致系统无法长期稳定运行,故采用周期性学习扰动观测器(PLDOB)来削弱这些扰动。首先利用扰动观测器(DOB)估计初始周期内的扰动,然后将所估计的扰动作为PLDOB中周期学习律的初始条件,进而校正每个后继周期内的扰动。该方法直接从扰动的角度设计,不仅能在保证系统长期稳定运行的前提下使跟踪误差快速收敛到零,同时还可以补偿DOB中Q-滤波器带宽以外的扰动以及扰动的相位滞后。实验结果表明所提控制方案是有效的,明显提高了系统的跟踪性能和抗扰性能。For the permanent magnet linear synchronous motor(PMLSM)servo system which is vulnerable to influence of periodic disturbance,such as parametric variation,friction force and force ripple in repetitive motion tasks,so that system can not keep long-term stable operation,a periodic learning disturbance observer(PLDOB)was adopted to attenuate them.Firstly,the disturbance was estimated by the disturbance observer(DOB)at the initial time period.And then,the estimated disturbance was utilized as the initial condition of the periodic learning law in PLDOB to update the disturbance for each subsequent time period.This scheme was designed from the point of view of disturbance directly.It can not only improve the speed to make tracking errors converge to zero on the premise of the assurance of the long-term stable operation of the system,but also can compensate for disturbance beyond the bandwidth of the Q-filter of DOB and the phase lag of it.The experimental results confirm that the proposed scheme is effective and feasible.The tracking and disturbance rejection performance of system are improved greatly.

关 键 词：永磁直线同步电机 周期学习扰动观测器 周期性扰动补偿 跟踪误差 长期稳定运行 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]