基于延迟补偿的永磁直线同步电机伺服系统双闭环鲁棒重复控制

Dual-Closed-Loop Robust Repetitive Control for Permanent Magnet LinearSynchronous Motor Servo System Based on Delay Compensation

【目的】为提升永磁直线同步电机(PMLSM)伺服系统的动态响应和鲁棒性,提出了一种将带延迟补偿的鲁棒速度控制与插入式重复比例微分(PD)位置控制相结合的双闭环级联复合控制方法。【方法】首先,基于参考模型鲁棒补偿原理设计了鲁棒速度控制器,该控制器能够有效地调节参考模型与实际系统模型之间的建模误差,并利用逆系统延迟模型来抵消系统传输延迟效应。此外,为了有效抑制周期性外部扰动,引入了插入式重复控制器与PD位置控制器相结合,构建了插入式重复PD位置控制器。【结果】试验结果表明,通过这种双闭环级联控制结构,可以有效地减小位置误差,解决了传输延迟导致的系统性能变差和响应超调问题,并且有效抑制了外部周期性扰动的影响。【结论】所提复合控制方法使PMLSM位置伺服系统能够实现对周期性信号的高精度跟踪,并提高了系统的动态响应和鲁棒性。

[Objective]In order to improve the dynamic response and robustness of permanent magnet linear synchronous motor(PMLSM)servo systems,a dual-closed-loop cascade composite control method was proposed,combining robust velocity control with delay compensation and plug-in repetitive proportional differential(PD)position control.[Methods]Initially,a robust velocity controller was designed based on the reference model robust compensation principle,which effectively addressed the modeling errors between the reference model and the actual system model,using an inverse system delay model to mitigate the effects of system transmission delays.In addition,to effectively suppress periodic external disturbances,a plug-in repetitive controller was integrated with the PD position controller,forming a plug-in repetitive PD position controller.[Results]Experimental results demonstrate that this dual closed-loop cascade control structure significantly reduces position errors,addresses the degradation of system performance and overshoot caused by transmission delays,and effectively mitigates the impact of external periodic disturbances.[Conclusion]The proposed composite control method enables the PMLSM position servo system to achieve high-precision tracking of periodic signals,thereby improving the system’s dynamic response and robustness.