|
|
|
| Control of Linear Servo System Based on Wavelet Neural Network and Nonlinear Disturbance Observer |
| Zhao Ximei, Yuan Hao, Zhu Wenbin |
| School of Electrical Engineering Shenyang University of Technology Shenyang 110870 China |
|
|
|
|
Abstract A nonlinear disturbance observer (NDO) control method based on wavelet neural network (WNN) is used to improve the performance of the permanent magnet linear synchronous motor (PMLSM), which is easily influenced by nonlinear uncertainties such as external load disturbance, parameter change and friction, etc. Firstly, linearize the nonlinear model. Then, the linear system theory is used to design the feedback linearization controller (FLC) for the main position tracking to make the PMLSM control system stable. The uncertainties of the system is estimated and compensated by NDO, and the system tracking error is reduced. However, in the actual operation, the observer gain is difficult to select, and it is very easy to produce large observation errors. In order to enhance the robustness of the system, compensating observation errors online through WNN to improve the compensation ability of NDO. The experimental results show that the proposed method is effective, the system has strong robustness and good tracking accuracy, which can effectively compensate for the uncertainties existing in the system.
|
|
Received: 22 June 2018
Published: 12 October 2019
|
|
|
|
|
|
[1] 赵希梅, 赵久威. 永磁直线同步电机的智能互补滑模控制[J]. 电工技术学报, 2016, 31(23): 9-14.
Zhao Ximei, Zhao Jiuwei.Intelligent complementary sliding mode control for permanent magnet linear synchronous motor[J]. Transactions of China Electrotechnical Society, 2016, 31(23): 9-14.
[2] Azhar F, Nasir N A M, Firdaus R N, et al. Comparison and prediction of performance index of permanent magnet linear motor[C]//International Conference on Power and Energy, Melaka, Malaysia, 2017: 558-563.
[3] 孙宜标, 王亚朋, 刘春芳. 永磁直线电机自适应区间二型模糊滑模控制[J]. 沈阳工业大学学报, 2017, 39(6): 601-606.
Sun Yibiao, Wang Yapeng, Liu Chunfang.Adaptive interval type-2 fuzzy sliding mode control for permanent magnet linear motor[J]. Journal of Shenyang University of Technology, 2017, 39(6): 601-606.
[4] 孙兴法, 聂子玲, 朱俊杰, 等. 基于低阶串行双扩展卡尔曼滤波的永磁直线同步电机无速度传感器控制策略[J]. 电工技术学报, 2018, 33(12): 2685-2694.
Sun Xingfa, Nie Ziling, Zhu Junjie, et al.A speed sensorless control strategy for a permanent magnet linear synchronous motor based on low-order serial dual extended Kalman filters[J]. Transactions of China Electrotechnical Society, 2018, 33(12): 2685-2694.
[5] 赵希梅, 武文斌. 基于周期学习扰动观测器的永磁直线同步电机伺服系统控制[J]. 电工技术学报, 2018, 33(9): 1985-1993.
Zhao Ximei, Wu Wenbin.Control of permanent magnet linear synchronous motor servo system based on periodic learning disturbance observer[J]. Transactions of China Electrotechnical Society, 2018, 33(9): 1985-1993.
[6] Cho K, Kim J, Choi S B, et al.A high-precision motion control based on a periodic adaptive disturbance observer in a PMLSM[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(5): 2158-2171.
[7] Yang Zijiang, Fukushima Y, Qin Pan.Decentralized adaptive robust control of robot manipulators using disturbance observers[J]. IEEE Transactions on Control Systems Technology, 2012, 20(5): 1357-1365.
[8] 张梦春. 结合非线性扰动观测器的新型混联式汽车电泳涂装输送机构同步滑模控制[D]. 镇江: 江苏大学, 2017.
[9] Mustafa A, Dhar N K, Agrawal P, et al.Adaptive backstepping sliding mode control based on nonlinear disturbance observer for trajectory tracking of robotic manipulator[C]//2017 2nd International Conference on Control and Robotics Engineering, Bangkok, Thailand, 2017: 29-34.
[10] Lei Jing, Khalil H K.Feedback linearization for nonlinear systems with time-varying input and output delays by using high-gain predictors[J]. IEEE Transactions on Automatic Control, 2016, 61(8): 2262-2268.
[11] Lee D.Nonlinear disturbance observer-based robust control of attitude tracking of rigid spacecraft[J]. Nonlinear Dynamics, 2017, 88(2): 1-12.
[12] Apte A A, Joshi V A, Walambe R A, et al.Speed control of PMSM using disturbance observer[J]. IFAC PapersOnLine, 2016, 49(1): 308-313. |
|
|
|
2019, Vol. 34 
