直线伺服系统的变增益零相位H_∞鲁棒跟踪控制

Variable gain zero phase H_∞ robust tracking control for linear servo system

针对永磁直线同步电机(PMLSM)直接驱动伺服系统,提出了一种将变增益零相位误差跟踪(VGZPET)控制和H∞鲁棒控制相结合的鲁棒跟踪控制策略,以解决系统的快速而精确的跟踪性能和抗扰性能之间的矛盾.VGZPETC克服了建模误差、系统参数变化等影响,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,该方案具有快速精确的跟踪性能,同时对系统参数变化和阻力扰动具有很强的鲁棒性.

For permanent magnet linear synchronous motor （PMLSM） servo system, robust tracking control strategy based on combining variable gain zero phase error tracking （VGZPET） with H∞ robust control is proposed. The control scheme solves the conflict between fast tracking performance and interference rejection of the linear serve system The VGZPET controller is designed to ensure that the system has fast tracking performances and implements exactly tracking, at the same time, it can overcome the influences of the modelling error and parametric variation of the system. H∞ robust controller can overcome the influences of external load disturbances and uncertainties. Therefore, the stability and robustness of the system am achieved. The simulation results show that the control scheme not only can enhance the fast tracking performance on the linear servo system, but also has a strong robusmess to parametric variations and resistance disturbances.