摘要
为了解决高精度数控机床永磁直线电机伺服系统中负载扰动及参数变化对系统性能产生影响的问题,将H∞鲁棒控制理论和回路传递函数恢复(LTR)技术相结合,提出了一种带有观测器的H∞/LTR综合控制方法.对系统进行目标回路设计,即在假设系统完全可测的前提下,设计一个鲁棒H∞控制律,以满足系统性能要求;对系统进行恢复过程设计,即通过设计观测器,使得系统在引入观测器后,目标回路传递函数得到恢复.仿真结果表明,所设计的控制器具有良好的性能,且对于模型不确定性、外部扰动等具有较强的抑制作用.
In order to avoid the influence of load disturbance and parameter change in the servo system of permanent-magnet linear synchronous motor for numerical control （NC） machine tool with high precision on the performances of the system, the H~ robust control theory and loop transfer recovery （LTR） technique were combined, and an observer-based H~/LTR synthetic control method was proposed. The target loop design was carried out for the system. Namely, under the assumption that the states of the system were completely available for detection, a robust H~ control law was designed to satisfy the performance requirements of the system. The design for the recovery process of the system was performed, namely, the transfer function of target loop was recovered through introducing the designed observer into the system. The simulated results show that the designed controller has good performance, and exhibits strong inhibition effect for the model uncertainty and external disturbance.
出处
《沈阳工业大学学报》
EI
CAS
北大核心
2013年第3期241-245,共5页
Journal of Shenyang University of Technology
基金
国家自然科学基金资助项目(51175349)
关键词
数控机床
永磁直线电动机
回路传递函数恢复
鲁棒控制
H∞
LTR综合方法
观测器
目标回路
外部扰动
NC machine tool
permanent-magnet linear motor
loop transfer function recovery
robust control
H∞/LTR synthetic method
observer
target loop
external disturbance NC machine tool
permanent-magnet linear motor
loop transfer function recovery
robustcontrol
H~/LTR synthetic method
observer
target loop
external disturbance
