永磁直线同步电机的多步虚拟位置预测控制  

Multi-step virtual position predictive control of permanent magnet linear synchronous motor

作　　者：王荣坤 汪志鑫 杜全恺 庄宇佳 郭新华[1] WANG Rongkun;WANG Zhixin;DU Quankai;ZHUANG Yujia;GUO Xinhua(Department of Information Science Engineering,Huaqiao University,Xiamen 361000,China)

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361000

出　　处：《光学精密工程》2023年第10期1475-1486,共12页Optics and Precision Engineering

基　　金：厦门市青年创新基金资助项目(No.3502Z202006016);华侨大学中青年教师科技创新资助计划(No.ZQN-908)。

摘　　要：预测控制是一种通过数学模型对电机未来行为进行预测与调整,以此减小系统时延影响的优化控制方法。系统时延是一种非线性时变扰动,难以被准确估算与补偿,降低了传统位置预测控制应用于直线电机这类响应快速对象时的位置跟踪性能。本文分析了永磁直线同步电机的系统时延来源与影响,在预测模型中引入主动变速系数来降低系统时延以加快电机响应速度,解决了传统预测控制无法进行滚动优化的问题进而提出了一种多步虚拟位置预测控制,实现高性能系统时延补偿。文章对一台医用显微镜用小功率永磁直线同步电机进行仿真和实验,结果表明所提方法能够加快电机动态响应速度,并且在对三角、正弦等不同类型曲线的跟踪中均能够降低系统时延的影响,位置跟踪精度相较传统位置预测控制提高了约20%。Notably,predictive control is an optimal control strategy that reduces the impact of system de-lays by predicting and adjusting the future behavior of a motor using mathematical models.System delays are nonlinear time-varying disturbances that are often difficult to accurately estimate and compensate for.Moreover,they degrade the position tracking performance of conventional position predictive control when applied to fast responding objects such as linear motors.This study analyzes the sources and effects of sys-tem delays in a permanent magnet synchronous linear motor.A multi-step virtual positive predictive con-trol is proposed by introducing an active variable speed coefficient into the prediction model to reduce the system delay and speed up motor response.This addresses the observed decrease in motor speed with a de-crease in the position prediction error during the tracking process of conventional predictive control,which often leads to the failure of rolling optimization,and realizes time delay compensation for high-performance systems.This study experimentally simulates a low-power permanent magnet linear synchronous motor for medical microscopes.The proposed method can accelerate the dynamic response of the motor and re-duce the effect of system delays on the tracking of different types of curves such as triangular and sinusoi-dal.In particular,the position tracking accuracy is improved by approximately 20%over that of conven-tional position predictive control.

关 键 词：永磁直线同步电机 系统时延 多步虚拟位置预测控制 位置跟踪精度 响应速度 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]