为了解决永磁直线同步电机(permanent magnet linear synchronous motor,PMLSM)运行过程中对系统参数扰动及端部效应等不确定因素敏感的问题,提出了一种PMLSM的非线性鲁棒控制方法。利用反馈线性化的思想,对PMLSM数学模型进行变换得到...为了解决永磁直线同步电机(permanent magnet linear synchronous motor,PMLSM)运行过程中对系统参数扰动及端部效应等不确定因素敏感的问题,提出了一种PMLSM的非线性鲁棒控制方法。利用反馈线性化的思想,对PMLSM数学模型进行变换得到包含不确定因素的准线性化且解耦的模型。采用msat函数的思想方法,设计了固定边界层滑模控制器,确保系统鲁棒性。同时给出了力观测器的设计方法估计新模型中未知的负载力。不需要知道系统参数的精确数值,通过确定其范围就可以使控制器得到良好的鲁棒性。仿真与实验结果均验证了文中所提出方法的正确性和控制策略的有效性。展开更多
The advantages of permanent magnet linear synchronous motors (PMLSM) include high speed and good motion precision compared with rotary motors. However, PMLSM are sensitive to uncertainties such as the parameter pertur...The advantages of permanent magnet linear synchronous motors (PMLSM) include high speed and good motion precision compared with rotary motors. However, PMLSM are sensitive to uncertainties such as the parameter perturbations and end effect etc. A new nonlinear robust scheme of PMLSM is proposed to overcome this trouble. First, a quasi-linearized and decoupled model with uncertainties is derived from the mathematical model of PMLSM by using the conception of feedback linearization. Then a fixed-boundary-layer sliding mode controller using the msat function is designed to guarantee the robustness. Design of a force observer is given to estimate the load force unknown in the new model. Finally, the validity of the proposed strategy compared with the conventional PID control scheme is proved by the DSP-based experimental results.展开更多
文摘为了解决永磁直线同步电机(permanent magnet linear synchronous motor,PMLSM)运行过程中对系统参数扰动及端部效应等不确定因素敏感的问题,提出了一种PMLSM的非线性鲁棒控制方法。利用反馈线性化的思想,对PMLSM数学模型进行变换得到包含不确定因素的准线性化且解耦的模型。采用msat函数的思想方法,设计了固定边界层滑模控制器,确保系统鲁棒性。同时给出了力观测器的设计方法估计新模型中未知的负载力。不需要知道系统参数的精确数值,通过确定其范围就可以使控制器得到良好的鲁棒性。仿真与实验结果均验证了文中所提出方法的正确性和控制策略的有效性。
文摘The advantages of permanent magnet linear synchronous motors (PMLSM) include high speed and good motion precision compared with rotary motors. However, PMLSM are sensitive to uncertainties such as the parameter perturbations and end effect etc. A new nonlinear robust scheme of PMLSM is proposed to overcome this trouble. First, a quasi-linearized and decoupled model with uncertainties is derived from the mathematical model of PMLSM by using the conception of feedback linearization. Then a fixed-boundary-layer sliding mode controller using the msat function is designed to guarantee the robustness. Design of a force observer is given to estimate the load force unknown in the new model. Finally, the validity of the proposed strategy compared with the conventional PID control scheme is proved by the DSP-based experimental results.
