摘要
永磁直线同步伺服系统采用直接驱动方式,可构成大行程、高精度、高速度的高性能伺服系统。针对其变速机械易受参数、负载等扰动的影响,提出一种基于扰动观测辱的鲁棒控制方法,利用观测器预测估算出参数的变化和负载的波动等各种噪声,并产生前馈补偿信号输入系统。实验结果表明,该方法能有效地抑制各种扰动影响。
A new robust position control method is proposed to suppress load disturbance, torque ripple and parameter variations. A disturbance observer based acceleration control loop is added to conventional scalar control loop. Based on the thrust force and position information of the linear motor , load disturbance and mo-tor parameter variations are estimated. Then. the feedforward compensation signal from disturbance observer is added to inner current loop. The effectiveness of the proposed controller is verified by experiment results. The high speed position response and thrust response are satisfied.
出处
《控制与决策》
EI
CSCD
北大核心
1997年第A00期516-519,523,共5页
Control and Decision
基金
国家自然科学基金资助项目
关键词
直线电机
伺服系统
鲁棒控制
linear motor, servo system, robust control
