永磁直线伺服电机L2鲁棒控制的研究

对永磁直线电机伺服系统提出非线性L2鲁棒控制.给出电机的非线性数学模型,在此基础上,为实现对速度和电流的准确跟踪,建立了误差系统的动态模型;将跟踪和干扰抑制归结为L2设计问题,通过构造适当的存储函数得到描述系统L2控制器的两个定理;证明定理给出的控制器能满足干扰抑制和系统的渐进稳定.仿真结果表明,用该方法设计的系统能很好的抑制扰动和跟踪给定,满足对高性能永磁直线伺服系统控制的要求.

RESEARCH ON L2 ROBUST CONTROL FOR PERMANENT MAGNET LINEAR SERVO MOTOR

This paper presented L2 robust control for permanent magnet linear motor servo system. First, on the basis of the motor nonlinear mathematical model, an error system dynamic equation was set up in order to reach accurate track of the motor speed and current. Second, the track and disturbance restraint was summed up L2 control question. Furthermore, two theories used in describing I.,2 robust controllers were obtained by defining proper storage function. Finally, these L2 robust control laws which met disturbance restraint and asymptotical stability were proved. The results of simulation test indicate that the linear servo system with L2 robust controllers can guarantee a good disturbance restraint as well as the tracks of input signal, and can finally satisfy control requirement for high-performance linear servo system.