基于自适应反推补偿的PMLSM位置跟踪控制

针对永磁直线同步电机(PMLSM)伺服系统,在分析影响伺服跟踪精度因素的基础上,采用反推控制策略进行有效补偿控制。考虑参数变化、外部负载扰动等不确定因素对系统伺服性能的影响,从位置跟踪误差开始设计虚拟控制器,然后选择虚拟误差、位置误差构成新的子系统,设计新的虚拟控制器,通过递推依次对得到的虚拟控制器逐步修正算法,最终设计出实际控制器。仿真结果表明,和PI控制相比,该控制器明显降低不确定因素对系统性能的影响,能很好地跟踪周期性参考指令,削弱了时变外力扰动对系统性能的影响。

Position Tracking Control Based on Adaptive Backstepping for PMLSM

For permanent magnet linear synchronous motor(PMLSM) servo systems,on the basis of analyzing the factors that influence the tracking precision of servo system,a backstepping control scheme was introduced to suppress further tracking errors.Considering the influence of the lumped uncertainties with parameter variations,external force disturbances for PMLSM,a virtual controller was proposed by constituting a subsystem of position errors,followed by a new virtual controller which was designed by selecting the virtual and position errors to constitute a new sub-system,and an actual controller was obtained by revising algorithm of the virtual controller gradually through recursion.Simulation results show that the proposed algorithm can reduce effectively the influence of the lumped uncertainties and restrain effectively the time-varying load disturbances on system performances.