基于能量整型方法的永磁同步直线电机位置控制

Permanent magnet linear synchronous motor position control based on energy-shaping method

针对永磁同步直线电机(PMLSM)的位置控制问题,从能量整型控制的角度进行了研究。基于哈密顿反馈耗散控制方法,结合系统的物理能量特性,在dq旋转坐标系下建立了包含电能和动能的永磁同步直线电机闭环系统哈密顿函数,通过反馈耗散方法对永磁同步直线电机进行速度控制器设计,保证了系统在稳态运行点达到输入/输出能量的动态平衡。为了提高系统响应性能,提出了阻尼参数PID自整定方法实现阻尼参数的自调节,并通过设计位置控制外环构成了包含位置、速度的双环控制系统,实现了PMLSM位置控制。实验结果表明,所设计的控制器具有良好的稳定性、快速的位置跟踪性和抗干扰能力。

Aiming at the problems of permanent magnet synchronous linear motor position control,controller was studied from the view of energy-shaping control. Based on the Hamiltonian feedback dissipative control method,combining the system＇s physical energy characteristics,the closed-loop system Hamiltonian function of PMLSM was built in dq rotating coordinate system,and the speed controller was designed with feedback dissipation control method which can guarantee system＇s input energy and output energy was balanced dynamically. The damping parameter PID self-tuning method was proposed to improve system performance. Then the position control outer-loop was added to control system to realize PMLSM position control,and the double closed loop control system was proposed with position loop and speed loop. The simulation results shows the designed controller has good stability,fast position tracking and good robust performance.