直线伺服系统的鲁棒保性能控制研究

Study on Robust Guaranteed Cost Control for Linear Motor Servo System

对具有不确定性的直线电机伺服系统进行鲁棒控制。把一矢量控制的永磁直线电机构成一个三环系统,在速度环和电流环内采用IP速度控制器和状态反馈控制器,以实现电机的高精度快速进给,并抑制外部扰动对系统的影响。为了保证对于所有允许的参数不确定性,系统都具有所期望的性能,采用保性能控制方法设计其最优状态反馈保性能控制器。对电机在两种最恶劣情况下作了仿真实验。结果表明,和传统的方法相比,用该方法设计的直线伺服系统具有性能鲁棒性,当参数变化时,系统具有较好的抗扰性和跟踪性能。

The robust control for linear servo system with uncertainty is presented. A three-loop system is constructed for a vector control permanent magnet linear synchronous motor （PMLSM）. Inthe speed-loop and current-loop, an IP controller and a state feedback controller are used for high accuracy and rapid tracking and to restrain disturbance. To keep desirable performance for all permitted parameter uncertainty the optimal state feedback controller is designed with the method of guaranteed cost control. The simulation experiments are done in two bad cases. The comparison between the proposed method and the conventional control methods and the simulation results show that the linear servo system with the proposed method can satisfy performance robustness, and guarantee a better performance for restraint disturbance and tracking of input signal for parameter uncertainty.