摘要
直线电机在执行重复性的跟踪控制任务时,负载扰动、端部效应力及摩擦力会呈现周期性变化。为了提高永磁直线伺服系统的跟踪精度与抗扰性能,消除上述不确定因素的影响,采用离散变结构控制(DVSC)和迭代学习控制(ILC)相结合的位置跟踪控制策略。并利用迭代学习控制算法来调整变结构控制器的参数,削弱抖振,提高稳态精度。理论分析与仿真结果表明,该方案在保证直线伺服系统快速精确跟踪性能的同时,对系统参数变化和阻力扰动具有很强的鲁棒性。
Load disturbances, end effect and friction are likely appears variable periodicity when linear motor carry out task repeatedly. To eliminate the influence of the uncertainties mentioned above for enhancing tracking performance and rejection disturbances performance, a compound position tracking control strategy based on combining discrete variable structure control （DVSC） with itcrative learning control （ILC） is proposed in this paper. TO shorten the chattering level of the input, the parameter of DVSC is regulated by adopting ILC, thus improve the static precision of the system. The simulation results show that the method not only enhances the fast tracking performance, but also has a stronger robustness against parametric variations and resistance disturbances.
出处
《组合机床与自动化加工技术》
2007年第3期37-40,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
辽宁省自然科学基金(20052045)
辽宁省教育厅基金(2004F014)
