基于周期学习扰动观测器的永磁直线同步电机伺服系统控制  

Control of Permanent Magnet Linear Synchronous Motor Servo System Based on Periodic Learning Disturbance Observer

作　　者：赵希梅[1] 武文斌 Zhao Ximei;Wu Wenbin(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,沈阳110870

出　　处：《电工技术学报》2018年第9期1985-1993,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金项目(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)资助

摘　　要：针对永磁直线同步电机(PMLSM)伺服系统执行重复性运动任务时存在周期性扰动的问题,提出了一种新型周期学习扰动观测器(PLDOB)来削弱这些扰动。首先,建立了含有不确定性的PMLSM动态模型,利用扰动观测器(DOB)来估计包括参数变化、未建模动态、摩擦力和推力波动在内的扰动。然后,通过周期学习律来校正每个周期内的扰动。此控制方案无需扰动的数学模型以及模型参数的控制律,直接从扰动的角度设计,并且还可以对DOB中Q-滤波器带宽以外的扰动进行补偿。最后,通过实验验证了该方案是有效可行的,明显提高了系统的跟踪性能和抗扰性能。To solve the problem of periodic disturbance in repetitive motion tasks for permanent magnet linear synchronous motor(PMLSM)servo system,a novel periodic learning disturbance observer(PLDOB)was proposed.Firstly,the dynamic model of PMLSM with the uncertainties was established,and a lumped disturbance was estimated by the disturbance observer(DOB).It consists of parametric variation,unmodeled dynamics,friction force and force ripple;and then,it was updated for each time period by the periodic learning law.This scheme requires no mathematical models of disturbances and control laws of model parameters,and it was designed from the point of view of disturbances directly.Also,it is possible to compensate for disturbances above as well as below the bandwidth of the Q-filter of DOB.Finally,the system 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 扰动补偿 跟踪误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]