圆筒型反向式横向磁通直线电机定位力补偿二阶自抗扰控制器位置控制

Second-Order ADRC Position Control with Detent Force Compensation for Tubular Reversal Transverse Flux Linear Machine

为减小定位力、摩擦力及负载等扰动对圆筒型反向式横向磁通直线电机(TRTFLM)位置控制性能的影响,提出一种定位力补偿二阶自抗扰控制器(ADRC)。首先,给出该电机的基本结构与运行原理,并对其定位力产生机理、数学模型及谐波分量进行分析;其次,基于该电机的数学模型,将位置环与速度环进行并联设计,构建位置环二阶ADRC,提高了TRTFLM位置控制的抗扰性能及跟踪性能;在此基础上,将定位力模型嵌入至扩张状态观测器(ESO)中,实现对二阶ADRC的优化,进一步提高了位置控制跟踪性能;最后,实验表明该控制方案的可行性和有效性。

In order to reduce the influence of detent force,friction force and load disturbance on the position control performance for tubular reversal transverse flux linear machine(TRTFLM),a second-order active disturbance rejection control(ADRC)with detent force compensation is proposed.First,the basic structure and working principle of the machine are given,and the generating mechanism,mathematical model and harmonic component of the detent force are analyzed.Then,based on the mathematical model of the machine,the position loop and speed loop are designed in parallel,and the second-order ADRC of the position loop is constructed,which improves the disturbance rejection and tracking performance of the position control of the TRTFLM.On this basis,the detent force model is embedded into the extended state observer(ESO)to optimize the second-order ADRC,which further improves the tracking performance of the position control.Finally,the experimental results show that the control scheme is feasible and effective.