电工技术学报  2020, Vol. 35 Issue (16): 3406-3413    DOI: 10.19595/j.cnki.1000-6753.tces.190675
电机与电器 |
永磁直线同步电动机伺服系统的自适应加加速度控制
原浩, 赵希梅
沈阳工业大学电气工程学院 沈阳 110870
Adaptive Jerk Control for Permanent Magnet Linear Synchronous Motor Servo System
Yuan Hao, Zhao Ximei
School of Electrical Engineering Shenyang University of Technology Shenyang 110870 China
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摘要 针对永磁直线同步电动机(PMLSM)伺服系统中易受不确定性因素影响的问题, 该文提出一种自适应加加速度控制(AJC)方法。首先建立含有不确定性的PMLSM伺服系统动态方程。然后, 通过模型前馈控制补偿系统的参数不确定性所产生的模型误差, 提高系统的响应速度。最后, 采用AJC抑制系统中外部扰动、非线性摩擦力等不确定性因素, 自适应律使鲁棒增益收敛于有界范围内, 提高系统的鲁棒性;AJC的输出信号积分后形成了反馈控制律, 削弱了控制律中开关函数激励未建模动态引起的高频谐振, 保证了控制信号的稳定性和连续性。系统实验结果表明, 该控制方法能够产生平稳的控制信号, 明显地提高系统的控制性能, 减小跟踪误差, 避免高频振荡, 进而改善PMLSM伺服系统的控制精度。
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关键词 永磁直线同步电动机不确定性自适应加加速度控制鲁棒性    
Abstract:An adaptive jerk control (AJC) scheme was proposed in view of the susceptibility of uncertainty factors in the permanent magnet linear synchronous motor (PMLSM) servo system. Firstly, the dynamic of the PMLSM servo system with uncertainties was established. Then, the model-based feedforward control was used to compensate for the dynamic error caused by parametric uncertainties, and the response speed of the system was improved. Moreover, AJC was adopted to suppress the uncertainties such as external disturbance and nonlinear friction in the system. Robust gain was convergent following an adaptive law in a bounded range and the robustness of the system was enhanced. The output signal of AJC was integrated to form the feedback control law, which weakened the high frequency resonance caused by unmodeled dynamics of the switching function excitation, ensuring the stability and continuity of the control signal. The experimental results indicate that the control method can generate a smooth control signal and the control performance of the system is improved significantly. The tracking error is reduced and high frequency oscillation is successfully avoided. The control precision of the PMLSM servo system is more accurate.
Key wordsPermanent magnet linear synchronous motor    uncertainty    adaptive jerk control    robustness   
收稿日期: 2019-06-05     
PACS: TP273  
  TM351  
通讯作者: 赵希梅 女, 1979年生, 教授, 博士生导师, 研究方向为电机控制、机器人控制、智能控制等。E-mail: zhaoxm_sut@163.com   
作者简介: 原浩 男, 1992年生, 博士研究生, 研究方向为直线伺服、智能控制等。E-mail: yuanhao_sut@163.com
引用本文:   
原浩, 赵希梅. 永磁直线同步电动机伺服系统的自适应加加速度控制[J]. 电工技术学报, 2020, 35(16): 3406-3413. Yuan Hao, Zhao Ximei. Adaptive Jerk Control for Permanent Magnet Linear Synchronous Motor Servo System. Transactions of China Electrotechnical Society, 2020, 35(16): 3406-3413.
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