动磁式磁悬浮永磁直线同步电机悬浮子系统H<sub>2</sub>/H<sub>∞</sub>混合鲁棒控制策略

doi:10.19595/j.cnki.1000-6753.tces.241251

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摘要

针对动磁式磁悬浮永磁直线同步电机,该文提出并设计了一种H₂/H_∞混合鲁棒控制策略,有效地提升了电机悬浮子系统的鲁棒性和动态性。首先,分析动磁式磁悬浮永磁直线同步电机的运行机理,建立了电机系统数学模型,并指出传统H_∞鲁棒控制策略存在无法考虑系统内部干扰的问题。在此基础上,提出并设计H₂/H_∞混合鲁棒控制器,进一步分析了控制器加权矩阵参数对系统动态性和鲁棒性的影响,给出参数的选取原则。最后,搭建了磁悬浮永磁直线同步电机悬浮系统的实验平台,对所提出的H₂/H_∞混合鲁棒控制策略进行了仿真和实验验证,其结果证明了该文研究内容的正确性和有效性。

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关键词 ：动磁式磁悬浮直线电机, 磁悬浮系统数学模型, 加权矩阵, H₂/H_∞混合鲁棒控制

Abstract：

With the continuous development of science and technology, CNC machine tools have become essential to IC manufacturing, playing a critical role in intelligent manufacturing. Magnetic suspension linear motor (MSLM) solves the friction problem of permanent magnet linear synchronous motor (PMLSM) and realizes the precision control of the feed system of CNC machine tools, which is one of the best choices for the ultra-precision linear positioning motion in the new generation of lithography machines and other high-end equipment. However, the electromagnetic characteristics of MLSM are complex, and the system is inherently coupled and unstable. Establishing a mathematical model of the magnetic levitation system to decouple the system is challenging. This paper studies a hybrid H₂/H_∞ robust control strategy, which utilizes the H₂ paradigm to suppress the internal disturbances of the system.
Firstly, the structure and working principle of the motor are analyzed, and the mathematical model of the moving magnet type magnetic levitation permanent magnet linear synchronous motor (MMT-MLPMLSM) in the synchronous rotating coordinate system is deduced. Then, the closed-loop control system of the MMT-MLPMLSM is established. The developed mathematical model shows that the levitation system has strong nonlinear characteristics. As a positioning actuator, the magnetic levitation system needs to levitate stably at the equilibrium position. Accordingly, the Taylor expansion of the magnetic levitation force near the equilibrium point is helpful for the design of the controller. Finally, the state space equations of the motor are obtained based on the mathematical model.
Secondly, the H_∞ robust controller and H₂/H_∞ hybrid robust controller are designed. The stability of the designed controller is verified using the Bird's plot and the zero-pole distribution graph. The effect of the weighting matrix on the dynamics and robustness of the system is investigated, guiding the parameter selection of the weighting matrix.
Finally, an experimental platform for the MMT-MLPMLSM suspension system based on STM32F407 is established. The simulation and experimental results verify the proposed hybrid H₂/H_∞ robust control strategy under steady state and dynamic conditions.
Compared with the H_∞ robust controller, the H₂/H_∞ hybrid robust controller designed in this paper can improve the dynamic performance of the system by 34.4% regarding startup performance and the robustness of the system by 16.7% regarding disturbance immunity performance. Good control effects can be achieved under low-speed, medium-speed, and high-speed traction conditions, and the motor's secondary fluctuations can be suppressed efficiently.

Key words： Moving magnet type magnetic levitation linear motor mathematical model of magnetic levitation system weighting matrix H₂/H_∞ hybrid robust control

收稿日期: 2024-07-14

PACS:

TM133

基金资助:

国家自然科学基金（52407052）、江苏省自然科学基金（SBK2022044339）和中国博士后科学基金（2023M731654）资助项目

通讯作者: 谭强男,1991年生,副研究员,硕士生导师,研究方向为精密永磁直线电机及相关技术、特种电机振动噪声抑制技术、磁悬浮系统及相关技术。E-mail: tanqiang0213@nuaa.edu.cn

作者简介: 闫顺天男,1999年生,硕士研究生,研究方向为动磁式磁悬浮永磁直线同步电机驱动控制。E-mail: yanshuntian@nuaa.edu.cn

引用本文:

闫顺天, 谭强, 田兵, 马润城, 李静. 动磁式磁悬浮永磁直线同步电机悬浮子系统H₂/H_∞混合鲁棒控制策略[J]. 电工技术学报, 2025, 40(17): 5422-5433. Yan Shuntian, Tan Qiang, Tian Bing, Ma Runcheng, Li Jing. Hybrid H₂/H_∞ Robust Control Strategy for the Levitation Subsystem of Moving Magnet Type Magnetic Levitation Permanent Magnet Linear Synchronous Motor. Transactions of China Electrotechnical Society, 2025, 40(17): 5422-5433.

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