基于内模原理的直线永磁同步伺服电机H_∞控制  

H_∞ control based on internal model theory of line ar permanent magnet synchronous servo motor

作　　者：郭庆鼎[1] 刘爱民[1] 孙艳娜[1] 迟林春[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》2003年第3期206-209,共4页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(50075057)

摘　　要：在速度伺服系统中,为了保证对干扰有良好的动态抑制作用且无静态扰动误差,同时使系统具有鲁棒稳定性,针对直线伺服系统所具有两个扰动输入点和两个偏差输出点的特征,对扰动进行转化后采用输出点混合灵敏度的方法,并将内模原理与H∞控制理论相结合设计了H∞速度控制器.实际求解标准H∞问题时,在扰动通道内引入近似内模,以使问题简化且满足高性能的要求.为了充分抑制负载阻力扰动,设计了一个H∞负载扰动观测器,该观测器可以自动保证观测结构的鲁棒稳定性.In the speed servo system,in order to restrain we ll disturbance of speed servo system dynamically and without static error induced by disturbance and guarantee robust stability,the linear servo system owning dou ble disturbance input points and double error output points is transformed in th is paper and the approach of output point mixed sensitivity is adopted.At the sa me time,H∞ speed controller is designed with the combination of internal model theory and H∞ control theory.In the process of seeking the solution s to th e standard H∞ control problem,an proximate internal model is introduced i nto disturbance path,whose purpose is to simplify the design and satisfy the hig hpowered servo requirement.On the other hand,a H∞ load disturbance obse r ver is designed which achieves the disturbance cancellation and guarantees robus t stability automatically.

关 键 词：直线伺服电机 H∞控制 内模原理 混合灵敏度 扰动观测器 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]