摘要
针对磁悬浮可控励磁直线同步电动机控制系统,提出跟踪与干扰抑制H∞鲁棒控制。首先,建立可控励磁直线同步电动机控制系统在磁悬浮运行状态下的数学模型;其次,为设计状态反馈与扰动前馈复合控制系统,设计扰动观测器对不确定性的外部扰动进行观测;再次,将系统对给定信号的跟踪与干扰信号的抑制问题转化为标准H∞问题,通过解Riccati方程得到半正定解,进而设计出跟踪与干扰抑制的H∞鲁棒控制器,以达到实现直线同步电动机数控机床磁悬浮平台精确控制的目的;最后用Matlab软件对H∞鲁棒控制的可控励磁直线同步电动机伺服系统进行仿真研究,仿真结果表明该控制系统能够很好地跟踪给定信号,并且对于不确定性的外部扰动,H∞控制比PI控制具有更良好的抑制作用。
For the magnetic levitation controllable excitation linear synchronous motor control system,the tracking and interference suppression H∞robust control is proposed.First,mathematical model of controllable excitation linear synchronous motor control system in magnetic levitation operation state is established.Second,in order to design state feedback and disturbance feed forward compound control system,disturbance observer to observe external disturbance of uncertainty is designed;Third,the tracking and interference suppression problem of system is transformed into the standard H∞problem.The semi-positive definite solution is obtained by solving the Riccati equation,and the H∞robust controller for tracking and interference suppression is designed to realize the precise control of the magnetic suspension platform of the linear synchronous motor numerical control machine tool.Finally,Matlab software is used to carry out the simulation research on the H∞robust controllable exciter synchronous servo motor servo system.The simulation results show that the control system can well track the given signal,and the external disturbance to the uncertainty,H∞control has better suppression than PI control.
作者
蓝益鹏
高畅
王靖腾
LAN Yipeng;GAO Chang;WANG Jingteng(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,CHN)
出处
《制造技术与机床》
北大核心
2019年第9期48-52,共5页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金资助项目(51575363)
关键词
可控励磁直线同步电动机
磁悬浮
H∞控制
跟踪与干扰抑制
controlled excitation linear synchronous motor
magnetic levitation
H∞robust controller
tracking and interference suppression
