基于音圈电机的载流磨损实验机载荷控制  

Load Control of Current-Carrier Abrasion Testing Machine Based on Voice Coil Motor

作　　者：时光[1] 陈忠华[1] 郭凤仪[1] 王继强[1] Shi Guang;Chen Zhonghua;Guo Fengyi;Wang Jiqiang(Faculty of Electrical and Control Engineering,Liaoning Technical University,Huludao 125105 China)

机构地区：[1]辽宁工程技术大学电气与控制工程学院,葫芦岛125105

出　　处：《电工技术学报》2018年第9期2015-2023,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(51477071);辽宁省教育厅青年项目(LJ2017QL011);辽宁工程技术大学生产技术问题创新研究基金(20160068T;20160069T)资助项目

摘　　要：为在载流磨损实验机上模拟弓网载荷波动,以音圈电机为执行器提出了一种接触载荷的伺服控制方案。首先考虑不确定性因素建立接触载荷的伺服控制模型,基于此采用反演控制方法,逐步递推设计虚拟控制律和最终控制律。该控制方法利用递归神经网络逼近不确定性和外界干扰以补偿控制律,通过设计跟踪微分器获取接触载荷及其导数以减弱测量噪声的影响。然后设计李雅普诺夫函数证明了闭环系统的稳定性。最后将该文所提控制方法与传统PID控制方法进行仿真性能对比,并基于硬件实验平台验证了该文所提控制方法的有效性。In order to simulate the load fluctuation of pantograph-catenary on current-carrier abrasion testing machine,the servo control method of contact load is proposed using voice coil motor as actuator.Firstly,the servo control model of contact load is established considering the uncertain terms,based on which the backstepping control method is developed through a step-by-step design of virtual control law and ultimate control law.The proposed control method uses recurrent neural network to approximate uncertainties and external disturbances and compensate the control law.A tracking differentiator is designed to acquire contact load and its derivative so as to weaken the effect of measurement noise.The convergence and stability of the closed-loop system are strictly proved by designing Lyapunov function.Finally,comparative simulation experiments with the traditional PID controller are implemented and the effectiveness of the proposed method is verified based on a hardware platform.

关 键 词：载荷波动 音圈电机 递归神经网络 反演控制 跟踪微分器 

分 类 号：TM921.541[电气工程—电力电子与电力传动]