基于模型参考自适应控制的直线电机位置控制

针对直线电机的强非线性和时变特性,采用模型参考自适应控制(MRAC)方法对SISO直线电机闭环位置控制器进行了研究。利用偶极子对消建立了简化的永磁直线电机二阶数学模型,提出了基于局部参数最优化MIT(梯度)方案和全局稳定性理论的Lyapunov方案下的二阶直线电机位置模型参考自适应控制器,并对自适应控制器下的直线电机闭环系统稳定性进行了分析研究。在相同的前馈加反馈的控制器下,对这两种方案下的实验结果进行了对比分析。研究结果表明,基于Lyapunov第二方法设计的二阶控制器比MIT方法下的二阶控制器更能实现对三阶点到点轨迹输入信号的快速响应和跟踪,证实了直线电机位置自适应控制的有效性。

Permanent magnet linear motor position control based on model reference adaptive control

Aiming at strongly nonlinear and time-variant characteristics of the permanent magnet linear motor (PMLSM),model reference adaptive control methods are applied to design closed-loop position controllers for the SISO non-linear PMLSM system.A simphfied mathematical model of PMLSM was established by using dipole cancellation method and PMLSM position second-order adaptive controller was forward,which based on local parameter optimization MIT method (gradient) and global stability theory Lyapunov scheme.Then the stability of the permanent magnet linear motor closed-loop system under the adaptive controller was analyzed.Under the same feed-forward and feedback controller,the results indicate that the second-order controller based on Laypunov second method is better than the controller in the MIT method and respond rapidly and track perfecdy the input third-order point trajectory signal,which confirmed the validity of position adaptive control on the PMLSM.