基于极点配置的直线伺服系统H_∞速度控制器设计

H_∞ velocity controller design for polar-allocation-based linear servo system

针对永磁直线同步电机(PMLSM)直接驱动伺服系统,应用内模原理,在电流环内引入一伺服补偿器,并通过极点配置和H∞控制方法设计状态反馈控制器.把系统闭环极点配置在一线性矩阵不等式(LMI)区域内,使系统具有良好的快速跟踪等动态性能;而H∞控制又使系统对负载扰动等不确定性具有较强的鲁棒性.仿真结果表明,和传统的控制方法相比,该方案在保证伺服系统的快速精确跟踪性能的同时,又使系统具有良好的抗干扰性和鲁棒性.

With regard to the directly-drive servo system of permanent magnet linear synchronous motor（PMLSM）,a servo compensator is added to the curent loop using internal model.Simultaneously,a state feedback controller is developed based on the polar allocation and H∞ control method.In this manner,the closed-loop system poles are allocated in a region of linear matrix inequality（LMI） to guarantee dynamic performances e.g.prompt tracking;whereas,the system robustness is further enhanced via the H∞ control to resolve uncertainties e.g. loading interruption.From the simulation results,it is indicated that,compared with traditional control methods,this approach possesses such advantages as prompt yet precise tracking,anti-interruption and robustness.