直线步进电机的有限时间预设性能控制器设计  

Finite-time prescribed performance control of linear stepping motor

作　　者：孙悦 高闯[1] SUN Yue;GAO Chuang(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《辽宁科技大学学报》2020年第6期426-429,477,共5页Journal of University of Science and Technology Liaoning

基　　金：辽宁省教育厅重点攻关项目(2020LNZD05);辽宁科技大学优秀人才培养项目(2019RC09)。

摘　　要：针对直线步进电机的跟踪控制问题,给出了一种新的控制方案,将电机的动力学方程转换为4阶状态方程组,引入有限时间预设性能函数,结合反步法,进行控制器设计,提高了系统的暂态性能和稳态性能,同时,保证电机闭环系统在平衡点处是渐近稳定的。实验结果证明,采用提出的控制方案,电机动子能够较好地跟随参考信号运动,验证了该控制器的可行性和有效性。Aiming at the tracking control problem of linear stepping motor,a new control scheme is proposed.The dynamic equation of linear stepping motor is transformed into a 4-order state equation system.The finitetime prescribed performance function is introduced and the backstepping method is used to design the controller.The transient performance and steady-state performance of the system are improved,and the asymptotic stability of the closed-loop system is guaranteed at the equilibrium point.The experimental results show that the motor can follow the reference signal well with the proposed control scheme,which verifies the feasibility and effectiveness of the controller.

关 键 词：直线步进电机 反步法 有限时间控制 预设性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]