磁悬浮永磁直线电机伺服系统H_∞鲁棒控制的研究

Robust Control Research for Magnetic Levitation Permanent Magnet Linear Motor Servo System

磁悬浮永磁直线电动机具有直接驱动与磁悬浮的特点,它能消除传动链所带来的不良影响以及动子与静止导轨之间的摩擦,提高系统的快速反应能力和精度。针对磁悬浮永磁直线电动机中的不确定性扰动,提出基于黎卡提不等式(Riccati)方法设计进给系统的H∞鲁棒控制器。首先,采用矢量控制方法中的id=0控制策略,把非线性系统解耦成独立的线性电流子系统和速度子系统。其次,在建立系统状态空间模型的基础上,将此系统归结为标准的H∞控制问题,通过求Riccati不等式的对称正定解,进而得到磁悬浮永磁直线电动机系统的状态反馈H∞控制器。最后,在MATLAB环境下搭建系统的仿真模型,对控制系统进行仿真研究,结果表明所设计的H∞控制器满足对不确定性扰动抑制的要求。

The magnetic levitation permanent magnet linear motor is direct drive and magnetic, it can e liminate some adverse effects caused by the transmission chain and the friction between the mover and the static guide, greatly improve rapid response capability and motion precision. Aiming at the uncertainty dis turbance of magnetic levitation permanent magnet linear motor, an H∞ robust controller for driving system based on Riccati inequality was proposed. First, the id = 0 method which is one of vector control＇ s meth ods is used for decoupling the nonlinear system to unattached linear current subsystem and speed subsys tem. Second, on the basis of building the system state space model the synthesis of linear servo system is converted into a standard H∞ control problem, through solving an algebraic matrix Riccati inequality with symmetrically positive solution, after that state feedback H∞ controller for magnetic levitation permanent magnet motor system is acquired. Finally, a simulation model is conducted under the MATLAB condition, study on simulation for the control system is made. The simulation indicated that the H∞ controller could a chieve the design target and have excellent uncertainty disturbance attenuation performance.