永磁直线同步伺服电机的零相位二自由度H_∞鲁棒跟踪控制

Zero Phase 2-DOF H_∞ Robust Tracking Control for Permanent Magnet Linear Synchronous Motor

针对永磁直线同步伺服电机(PMLSM)直接驱动伺服系统,提出了一种将零相位误差跟踪控制(ZPETC)和H∞鲁棒控制相结合的二自由度鲁棒跟踪控制策略,以解决系统的快速而精确的跟踪控制性能和抗扰性能之间的矛盾。零相位误差跟踪控制器保证了快速性,使系统实现准确跟踪;而H∞控制器克服了负载扰动等不确定性影响,保证了系统具有较强的鲁棒性能。仿真结果表明,该方案在保证伺服系统的快速精确跟踪性的同时,对系统参数变化和阻力扰动具有很强的鲁棒性。

For the direct-drive servo system of permanent magnet linear synchronous motor (PMLSM), a two-degrees of freedom (2-DOF) robust tracking control strategy based on combining zero phase error tracking control (ZPETC) with H∞ robust control is proposed in this paper. The control scheme solves the conflict between fast tracking performance and interference rejection of the linear serve system. The zero phase error tracking controller is designed to ensure that the system has fast tracking performance and implements exactly tracking, especially when it is used for contour control, better effect is obtained. It can effectively improve positioning accuracy and fast tracking performance. While the H∞ robust controller can overcome the influences of the uncertainties of parameters perturbation and external load disturbances, achieve the stability and robustness of the system. The simulation results show that the control scheme not only can enhance fast tracking performance, but also has a strong robustness to parametric variations and resistance disturbances.