高精度永磁直线同步电动机伺服系统鲁棒位置控制器的设计

Robust Position Controller Design for High-precision Permanent Magnet Linear Synchronous Motor

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.