摘要
为了提高永磁同步直线电机伺服系统的动态性能,提出了一种新型的自适应鲁棒控制器。该控制器不含电机参数,只与系统的状态变量有关,从而降低了对系统模型参数的依赖性。基于Lyapunov理论证明了所设计控制器的渐进稳定性。其次,将基于S函数的滑模观测器代替传统的滑模观测器,来实现直线电机动子的速度估计,彻底解决了传统滑模观测器中引入低通滤波带来的幅值和相位误差,改善了观测器的估计精度。最后,通过仿真验证了所提方案的有效性。
To improve the dynamic performance of permanent magnet synchronous linear motor, a novel adaptive robust controller is proposed. The controller, which is only related to motor speed and d-axis current, without containing other motor parameters and loads, has strong robustness Moreover, the sta- bility of the closed-loop system is demonstrated through Lyapunov stability theory. Then, S-function based sliding mode observer is presented to achieve motor speed estimation, solving the problem caused by traditional sliding mode observer, such us intrinsic chattering, amplitude and phase difference with low-pass filter. Simulation results verify the effectiveness of the novel controller and observer.
出处
《组合机床与自动化加工技术》
北大核心
2013年第11期64-67,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家重大科技攻关项目(2009ZX04001)
关键词
永磁同步直线电机
自适应控制
滑模观测器
PID控制
滑模控制
permanent magnet synchronous linear motor （PMSLM）
adaptive control
sliding mode ob-server
PID control
sliding mode control
