基于复合控制的圆筒形永磁直线同步电机位置控制

Tubular Permanent Magnet Linear Synchronous Motor Position Control System Based on Composite Control

针对圆筒形永磁直线同步电机,设计了一种位置控制系统。考虑到直线电机的推力脉动、摩擦力和系统模型的不确定性,采用干扰观测器(DOB)对其进行在线估算并进行补偿,经过补偿,系统模型近似等价其标称模型;基于标称模型设计速度前馈控制器,基于速度控制系统的模型设计位置前馈控制器,使得永磁直线同步电机控制系统的输出能够无误差地跟踪期望的速度和位置响应曲线;采用综合校正方法设计反馈控制器,保证系统的稳定性。最后给出了仿真结果。

A position control system was designed for a tubular permanent magnet linear synchronous motor. In consideration of the permanent magnet linear synchronous motor force ripple, the friction force and the uncertainties of the system model, the disturbance observer is adopted to estimate them online and compensate them, then the system model is approximately equivalent to its nominal model;with respect to the nominal model, the velocity feedforward controller is designed, and with respect to the model of the velocity control system, the position feedforward controller is designed, in order to take the PMLSM control system＇s output to follow up the desired velocity and position response with zero error; based on the synthesis technique in the frequency domain, the feedback controller is designed to guarantee the system stability. At last, the simulated result was given.