直接驱动H型平台鲁棒最优同步控制仿真研究  

Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform

作　　者：王丽梅[1] 么红岩 张康 Wang Limei;Yao Hongyan;Zhang Kang(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：《系统仿真学报》2022年第3期527-535,共9页Journal of System Simulation

基　　金：国家自然科学基金(51875366)。

摘　　要：针对永磁直线同步电机直接驱动的H型运动平台存在双轴耦合、参数摄动及外部扰动等不确定因素,影响系统的同步控制精度和鲁棒性的问题,提出了一种基于H型运动平台耦合动力学模型的鲁棒最优同步控制方法。基于Euler-Lagrange方程,建立双轴耦合动力学模型;设计交叉耦合同步控制器,有效地将单轴跟踪误差与双轴同步误差及其变化率结合起来;设计H∞鲁棒最优同步控制器来克服参数摄动及外部扰动等不确定因素的影响,增强系统的鲁棒性。通过仿真实验证明了该方法的有效性。A robust optimal synchronization control method based on coupling dynamics model of the H-type motion platform is proposed for the problem that the H-type motion platform driven directly by permanent magnet linear synchronous motor has uncertainties such as biaxial coupling,parameter perturbation and external disturbances,which affect the synchronization control accuracy and robustness of the system.A biaxial coupling dynamics model is established based on Euler-Lagrange equation.The cross coupling synchronization controller is designed to effectively combine the single-axis tracking error with the biaxial synchronization error and its rate of change.TheH∞robust optimal synchronous controller is designed to overcome the influence of uncertain factors such as parameter perturbation and external disturbances to enhance the robustness of the system.The effectiveness of the method is demonstrated by simulation experiments.

关 键 词：直驱H型平台 永磁直线同步电动机 交叉耦合控制 混合误差 鲁棒最优控制 

分 类 号：TM359.4[电气工程—电机] TP391.9[自动化与计算机技术—计算机应用技术]