高精度永磁直线同步伺服系统鲁棒位置控制器的设计  

Robust position controller design for high-precision permanent magnet linear synchronous motor

作　　者：田艳丰[1] 郭庆鼎[1] 

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110023

出　　处：《沈阳工业大学学报》2002年第6期481-484,共4页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目 (5 0 0 75 0 5 7)

摘　　要：介绍了高精度、微进给永磁直线交流同步电机 (PMLSM )驱动系统鲁棒位置控制器的设计 .首先 ,在空载情况下 ,由静态实验获得非线性摩擦系数模型 ,通过前馈摩擦补偿器补偿非线性摩擦 .其次 ,由递推最小二乘估计器RLS和负载扰动力观测器构成的估计器 ,用它来估计动子质量、粘滞摩擦系数和负载扰动力 .设计积分 比例IP位置控制器以满足跟踪指令和抑制扰动 .将观测的负载扰动力前馈 。This paper presents a robust position controller for a high precision micro feed permanent magnet linear synchronous motro (PMLSM) servo system. First, the nonlinear friction factor model is achived through a stationary experiment, the friction compensator is fed forward to compensate nonlinear friction. Then, the mover mass, viscous friction factor and disturbance force are estimated by the proposed estimator, which is composed of a recursive least square (RLS) estimator and a disturbance observer. And then IP position controller is designed to match tracking specifications and suppress disturbance. Finally, the observed disturbance force is fed forward, so as to increase the robustness of PMLSM drive system.

关 键 词：高精度 永磁直线同步伺服电机 鲁棒性 IP位置控制器 设计 微进给 摩擦补偿 

分 类 号：TM921.541[电气工程—电力电子与电力传动] TM