永磁直线伺服系统非线性自适应鲁棒控制器设计

Design of Nonlinear Adaptive Robust Controller for Permanent Magnet Linear Servo System

对永磁直线伺服系统提出非线性自适应鲁棒控制器的设计方法。在永磁直线伺服系统非线性数学模型的基础上,为实现对速度和电流的准确跟踪,建立了误差系统的动态模型。将跟踪和干扰抑制归结为非线性自适应鲁棒控制器设计问题,通过构造存储函数得到包含电阻辨识算法的自适应鲁棒控制器的定理,证明定理给出的控制器能满足干扰抑制和系统的渐进稳定。仿真结果表明,用该方法设计的系统能很好的抑制扰动和跟踪给定,满足对高性能永磁直线伺服系统控制的要求。

This paper presented a nonlinear adaptive robust controller based on genetic algorithm for permanent magnet linear motor servo system.On the basis of the permanent magnet linear motor servo system nonlinear mathematical model, an error system dynamic equation was set up in order to reach accurate track of the motor speed and current. The track and disturbance restraint was summed up adaptive robust L2 control question.Furthermore,a theory including formulaes of resistance identification is used in describing adaptive robust L2 robust controller is obtained by defining storage function,the L2 robust control law which met disturbance restraint and asymptotical stability was proved. The results of simulation test indicate that the linear servo system with nonlinear adaptive robust controller can guarantee a good disturbance restraint as well as the tracks of input signal, and can finally satisfy control requirement for high-performance linear servo system.