磁悬浮永磁直线电动机悬浮系统H_∞鲁棒控制器的设计

Design of H_∞ Robust Controller for Magnetic Suspension Permanent Magnet Linear Motor Suspension Subsystem

为消除直线电动机驱动的数控机床进给系统的摩擦阻力,实现无摩擦进给,采用一种新型的磁悬浮永磁直线同步电动机,将矢量控制分别应用于两套绕组可以实现推力与悬浮力的解耦,进而可以对电动机的悬浮子系统进行独立控制。针对悬浮子系统为非线性被控对象,以及存在不确定性未知扰动的特性,对悬浮系统数学模型进行输入输出解耦线性化,通过设计H∞鲁棒控制器来满足悬浮系统控制高精度,高鲁棒性的要求。仿真结果表明,该控制器能起到良好的抗干扰作用,系统的跟踪误差小,可以保持悬浮系统的稳定性。

In order to eliminate the friction of numerical control machine tool feed system driven by linear motor, a new magnetic suspension permanent magnet linear synchronous motor （PMLSM） is introduced in this paper. Vector control is applied to two sets of windings and the thrust and the suspension force can achieve the decoupling. Then, the motor suspension subsystem can be controlled independently. It is dif- ficult to control suspension subsystem of PMLSM because of the nonlinearity of the suspension subsystem model and uncertainty disturbances. In this paper, the nonlinear suspension subsystem is changed into a liner system with input-output decupling technique, and then and robust controller is designed to meet high accuracy and high robustness control requirements. The result of simulation indicates that the sus- pension subsystem with this controller has a good performance for restraint disturbance and track of input signal.