受电弓试验台直线电机滑模控制器设计

An Introduction of Design of Sliding Mode Controller of Linear Motor of Pantograph Test-bed

文章首先介绍整个受电弓控制系统的硬件部分,并以直线电机运行为例,简要介绍整个控制系统软件运行流程。之后建立直线电机d-q轴数学模型,根据实际使用的丹纳赫IC33-100A7型直线电机具体机械电气参数设计直线电机模型。并建立由电流内环、速度外环PI控制器,位置外环PID控制律滑模变结构器组成的全闭环控制系统仿真模型。最后对所建立的全闭环控制系统仿真模型进行了性能测试与分析,得到了较为满意的仿真结果,为实际调试直线电机运行的电流内环、速度外环PI控制器的比例环节参数、积分时间等参数提供参考。有效地减小了参数调试的工作量,并完成直线电机的调试运行。根据位置环控制器仿真结果得到了确切的滑模控制器参数,并使用VC++编写受电弓模拟试验台水平作动器全闭环控制实际运行程序。

This paper firstly introduced the hardware part of the control system of the whole pantograph,and took the operation of linear motor for example,briefly introduced the running process of the software of whole control system.Then the mathematical model of the linear motor d- q axis was constructed and linear motor model was designed according to the specific mechanical and electric parameters of Danaher IC33-100 structure linear motor in pratical use.And set up a full closed loop control simulation model composed of a PI controller adopted in current loop and speed loop,and a sliding mode variable structure controller PID used in position loop.Finally,the performance of closed loop control system simulation model was tested and made analysis,satisfactory simulation results were obtained,which provided reference to proportion parameters,integral parameters and otherwise of the PI controller adopted in current loop and speed loop to debug the linear motor pratically.Effectively reduce the workload of parameter debugging,and complete the test and operation of linear motor.Definite sliding mode controller parameters were obtained According to the simulation results of controller of position loop,and VC ＋ ＋ was applied to write the pratical operation procedures of the full closed control of the horizontal actuator of the pantograph simulation testbed.