驱动约束下直线电机自适应鲁棒优化控制

Optimized Adaptive Robust Control of a Linear Motors with Actuating Constraints

针对直线电机系统中各类建模不确定性以及速度、推力和加加速度约束综合影响下的最短时间动态响应和高精度稳态跟踪问题,提出了一种融合时间最优轨迹优化和非线性自适应鲁棒控制的双环控制框架。其中,外环时间最优轨迹优化主要处理系统速度、加加速度以及在线更新的前馈补偿约束,从而间接保证了最短时间的动态响应;内环非线性自适应鲁棒控制算法用来抑制各类建模不确定性的影响,旨在保证高精度的稳态跟踪性能。仿真结果验证了所提双环控制算法的有效性和优越性。

To achieve the minimum-time transient response and high accurate steady-state tracking for the linear motor subjecting to various modeling uncertainties, velocity, actuating force and jerk constraints, a two-loop control framework integrating the time-optimal trajectory optimization and nonlinear adaptive robust control is proposed in this paper. Specifically, in the outer loop, a time-optimal trajectory optimization algorithm is devised to handle the velocity, jerk and online updated feedforward constraints so that the minimum-time transient response is guaranteed indirectly. A nonlinear adaptive robust control algorithm is designed in the inner loop to attenuate various modeling uncertainties and thus achieve high accurate steady-state tracking performance. Simulation results confirm the effectiveness and superiority of the proposed two-loop control algorithm.