直线电动机运动速度均匀性控制技术的研究

Study on Control Technology of Velocity Uniformity in Linear Motor

在简单分析直线电动机工作原理的基础上,从推力波动、摩擦力、测量因素等几个方面讨论了影响直线电动机运动速度均匀性的主要因素。提出了一种积分分离的PID与迭代学习控制相结合的复合控制策略,在保证系统鲁棒性的基础上,通过执行重复任务来逐渐逼近给定的速度控制信号。考虑到速度的柔和变化和系统的柔性控制,引入S型加减速曲线,减少系统的冲击和振动。经在CCD航空相机动态分辨率检测系统上的应用测试,实验结果表明由该方案得到的直线电动机速度变化柔和,具有良好的均匀性,满足系统设计的需求。

Based on a simple analysis of the working principle of linear motor, the main factors which influence the velocityuniformity of linear motor were discussed from several aspects, including thrust fluctuation,friction, measuring factor.A compound control strategy composed of integral separation PID control and iterative learning control was proposed.Based on the guarantee of the system robustness, the given speed control signal was gradually approached by performing arepetitive task. Considering the flexibility of speed change and system control,S-shape acceleration and deceleration curvewas introduced, to reduce the system shock and vibration. After the test of application on the dynamic resolution CCD aerialcamera detection system, the experimental results show that the linear motor velocity obtained by the proposed project changessoftly and has good uniformity, which meets the needs of system design.