摘要
详细地介绍了高精度、微进给永磁直线交流同步电动机(PMLSM)驱动系统鲁棒位置控制器的设计。首先,在空载情况下,由静态实验获得非线性摩擦系数模型,通过前馈摩擦补偿器补偿非线性摩擦。其次,由递推最小二乘估计器RLS和负载扰动力观测器构成的估计器,估计动子质量、粘滞摩擦系数和负载扰动力。设计积分—比例IP位置控制器以满足跟踪指令和抑制扰动。将观测的负载扰动力前馈,进一步增强系统的鲁棒性。
This paper presents a robust position controller for a high-precision micro-feed fermanent magnet linear synchronous motor(PMLSM) servo system. At first, the nonlinear friction factor model is achieved through a stationary experiment, the friction compensator is fed forward to compensate nonlinear friction. Then, the mass, viscous frictional factor and disturbance force are estimated by the proposed estimator, composed of a recursive least-square (RLS) estimator and a disturbance observer. IP position controller is designed to match tracking specifications and suppression disturbance. The observed disturbance force is fed forward to increase the robustness of the system.
出处
《电机与控制学报》
EI
CSCD
1998年第4期208-212,共5页
Electric Machines and Control
基金
国家自然科学基金