直流直线电机自适应状态空间极点配置控制

Adaptive State Space Pole Assignment Control of DC Linear Motor

提出一种保证稳态精度的自适应状态空间极点配置方法以提高直流直线电机的稳态控制精度。通过反馈增益矩阵的自适应调整及增加补偿增益矩阵,利用自适应调节器实现反馈矩阵及补偿增益矩阵在线估计,并且进行稳态误差补偿,得出自适应状态空间极点配置算法,以克服摩擦力对电机性能的影响。理论分析及MATLAB仿真结果表明:该控制算法能够实现直流直线电机稳态精度的在线估计和补偿,能够快速准确地跟踪电机位移,系统具有良好的动态和稳态性能,闭环系统鲁棒性更强的特点。

A state-space pole placement method which ensured stability precision was proposed to improve the staticcontrol accuracy of DC liner motor. Gain matrix was adjusted and increased by self-adaption of feedback incremental ma-trix. Self-adaptive regulator was utilized to realize the online estimation of feedback matrix and gain matrix, and conductedsteady-state error compensation. The pole placement algorithm under adaptive state and overcomed the influence of frictionforce to motor＇ s performance. The result of theoretical analytical grade Matlab simulation experiment indicated that the con-trol algorithm enabled to realize the online estimation and compensation of steady accuracy, which could follow motor＇ s dis-placement in a fast and accurate way. The system had the features of better dynamic, eady-state performance and strongerrobustness of closed-loop system.