永磁直线同步电机的改进线性自抗扰控制

Improved Linear Active Disturbance Rejection Control for Permanent Magnet Linear Synchronous Motor

在永磁直线同步电机(PMLSM)的运动控制系统中,提出一种位置环的改进线性自抗扰控制(ILADRC)方法。相对于传统的线性自抗扰控制(LADRC),ILADRC仅利用线性扩张状态观测器输出的位置估计信号,通过PD控制器计算初始控制量,避免了引入速度估计信号的滞后影响。对PMLSM运行过程中受到的总扰动通过线性扩张状态观测器进行实时估计,并在控制律中进行动态补偿。利用李雅普诺夫函数方法证明了闭环误差系统的渐近稳定性。通过系统辨识得到了PMLSM平台的传递函数模型,在Matlab中进行了仿真分析,并搭建了基于dSPACE控制器的实验系统。实验结果表明,相比于PID和LADRC,ILADRC能够有效减小跟踪误差,降低超调,且具有更好的扰动抑制能力。

In the motion control system of the permanent magnet linear synchronous motor(PMLSM),an improved linear active disturbance rejection control(ILADRC)method of the position loop was proposed.Compared with the traditional linear active disturbance rejection control(LADRC),ILADRC only used the position estimation signal output by the linear extended state observer,calculated the initial control quantity through the PD controller to avoid the lag effect of the speed estimation signal.The total disturbance of PMLSM was estimated in real time by linear extended state observer and dynamically compensated in the control law.The asymptotic stability of the closed-loop error system was proved by the Lyapunov function.The transfer function model of the platform was obtained by system identification.The simulation analysis was carried out in Matlab,and the experimental system based on dSPACE controller was built.Experimental results show that compared with PID and LADRC,ILADRC can effectively reduce tracking error,reduce overshoot,and has better disturbance rejection ability.