摘要
针对永磁直线同步电机伺服系统,采用P型迭代学习控制律下的位置-速度控制器,实现参考位置信号的跟踪控制。详细分析了永磁直线伺服系统的数学模型,在此基础上给出迭代学习直线伺服系统的收敛性定理。同时避免位置信号微分运算的不准确结果,给出推广卡尔曼滤波器观测直线速度的方法。采用matlab和dSPACE方法对迭代学习直线伺服系统进行仿真研究,仿真结果表明迭代学习控制能够保证系统性能在不断学习中提高,系统具有很好的动态响应和学习能力。
A position-speed controller based on P-type iterative learning control law was used to control the mover position of PMLSM servo drive to track reference input signal. The mathematical model of permanent magnet linear servo system was analyzed in detail. The convergence theorem ofiterative learning linear servo system was proposed. In order to avoid to obtaining inaccuracy results of position signal differential operation, a method of observing linear speed by EKF was proposed. Finally, the simulation study was applied to iterative learning linear servo system by matlab and dSPACE methods. The experiment results demonstrate that iterative learning control method can assure enhancing system performance, and system has a good dynamic response and learning ability.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第14期4457-4460,4466,共5页
Journal of System Simulation
关键词
直线伺服
迭代学习
收敛性定理
速度观测
仿真研究
linear servo
iterative learning
convergence theorem
speed observation
simulation study
