永磁直线同步电机伺服系统鲁棒反步控制器设计

Design of Robust Backstepping Controller for Permenent Magnet Linear Synchronous Motor Servo Systems

针对永磁直线同步电机(PMLSM)伺服系统强鲁棒性、高控制精度的要求,提出一种鲁棒反步控制器。为了解决常规PID跟踪精度不高、参数调节难度大及鲁棒性差的问题,将自适应控制与反步控制结合。利用自适应机制实时估计系统的扰动,去除了反步控制设计过程中对外界扰动上界的要求,同时克服了控制律高频抖振的问题。同时,分析了闭环反馈系统中高频噪声的特性以及对系统的不利影响,使用低通滤波器来抑制高频噪声。最后,在Googol公司的试验平台上,通过与一种改进的PID对比,验证了设计的鲁棒反步控制器的可行性以及抑制高频噪声的有效性,可为先进控制理论的工程化提供参考。

A robust backstepping controller for permanent magnet linear synchronous motor （PMLSM） servo systems to meet the requirements of strong robust and high precision was presented. To solve the problems of lowaccuracy, difficult parameters tuning and weak robust, an adaptive controller and a backstepping one were combined. The introduction of adaptive mechanism released the priori knowledge of upper bounds on disturbance and overcomed the chattering problem of the control law. Meanwhile, the characteristics and the bad impacts of high-frequency noise in feedback control systems were analyzed, and a low pass filter was applied to suppress the high-frequency noise. Finally, the effectiveness of the proposed controller and the suppression of the high-frequency noise were verified in the experimental platform, made by Googol company. This paper could provide references to the practicality of advanced control theory.