直线伺服系统动子质量辨识及μ综合控制器设计

Dynamic Quality Identification and Design of μ Synthesis Control for PMSLS

针对高精度、微进给、超低速永磁同步直线伺服系统(PMSLS)易受负载扰动及参数变化影响的特点,采用H∞控制器设计方法与μ综合中的D-K迭代法相结合,设计了一个μ综合控制器。该控制器对负载扰动和参数不确定性更具鲁棒性。为了补偿摩擦力的扰动,进一步增强系统的鲁棒性,采用了基于模型参考自适应在线辨识动子质量。仿真结果表明,提出的该控制器满足超低速永磁同步直线伺服系统对鲁棒性和快速性的要求,系统的稳态精度有了很大的提高。

For the characteristic of high precision micro-feed and super low speed permanent magnet linear synchronous servo system（PM SLS）suffering from the effect of load disturbances and parameter variations, the H∞ controller design methodology is combined with D-K iteration in μ synthesis to design a μ synthesis controller. This μ synthesis controller is better in robustness against load disturbances and parameter uncertainties. In order to compensate friction disturbance and increase robustness, the dynamic quality is identified on-line based on model reference adaptive control. According to Simulation result, the proposed μ synthesis controller meets the requirement of the robustness and rapidity for PM SLS, and the system has high steady state precision.