基于模型线性自抗扰的PMLSM位置控制

Position Control of PMLSM Based on Model Linear Active Disturbance Rejection

永磁直线同步电机(PMLSM)由于受到摩擦力变化和外部扰动等不确定性的影响,降低了伺服系统的位置控制精度。针对该问题,提出了一种基于模型信息的线性自抗扰控制算法。将PMLSM运行过程中受到所有的不确定性归为未知总扰动,建立了简化的PMLSM伺服系统控制模型。设计了融合模型参数信息的模型线性扩张状态观测器和带有加速度前馈的改进线性状态反馈控制律,实现对未知总扰动的快速准确观测和实时动态补偿。仿真和实验结果表明:与PID控制和常规线性自抗扰控制方法相比,所提方法超调量小,稳定时间短,且对于扰动的抑制能力更强。因此,该方法有效满足PMLSM伺服系统快速准确定位以及强抗干扰能力等要求。

Permanent magnet linear synchronous motor(PMLSM)is affected by uncertainties of friction variation and external disturbances,which reduce the position control accuracy of the servo system.To solve this problem,a model-based linear active disturbance rejection control(MLADRC)algorithm was proposed.All uncertainties were classified as the unknown total disturbances,and a simplified control model of PMLSM servo system was established.A model linear extended state observer based parameter information and an improved linear state feedback control law with acceleration feedforward were designed to realize fast and accurate observation of unknown total disturbances and real-time dynamic compensation.Simulation and experimental results show that compared with PID control and conventional linear active disturbance rejection control,the proposed method has smallest overshoot,shortest setting time and strongest disturbance suppression ability.Therefore,this method can effectively meet the requirements of fast and accurate positioning and strong anti-interference ability of PMLSM servo system.