永磁直线同步电动机的滑模-H_∞鲁棒跟踪控制

Sliding Mode-H_∞ Robustness Tracking Control for Permanent Magnet Linear Synchronous Motors

针对永磁直线同步电动机(PMLSM)提出一种将H∞鲁棒控制和滑模控制相结合的鲁棒跟踪控制策略,该控制策略解决了系统跟踪性能和鲁棒性能之间的矛盾。滑模跟踪控制器保证了快速跟踪性能;而H∞抗扰控制器抑制了闭环系统内的各种扰动(包括负载及直线电机的端部效应力等),并可以削弱滑模控制的抖振对系统稳态性能的影响。仿真结果表明该方案在保证伺服系统的快速性同时,对系统参数变化和阻力扰动具有很强的鲁棒性。

A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control for permanent-magnet linear synchronous motor(PMLSM) is presented in this paper to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure that the system has fast tracking characteristic. While the H∞ robustness controller can suppress the disturbances within the close loop(including the load and the end effect force of linear motor etc.) greatly, and can effectively minimize the chattering of sliding mode control which could influence the steady state performance of the system. Some simulation results show that this control scheme not only can enhance the track-command-ability, but also has strong robustness to parameter variations and resistance disturbances.