基于学习前馈控制的永磁直线伺服系统跟踪控制研究

针对永磁直线同步电动机(PMLSM)伺服系统,在分析影响直线伺服跟踪精度因素的基础上,引入学习前馈控制(LFFC)补偿技术。学习前馈控制是一种反馈误差学习的控制形式,其包含了反馈控制器和采用函数逼近器的前馈控制器两部分。在系统和扰动定性知识的基础上,设计了基于B样条网络的学习前馈补偿控制。仿真结果表明,该方案有效地降低了负载扰动、端部效应等对系统性能的影响,提高了系统的跟踪精度。

Research on tracking control of permanent magnet linear servo system based on learning feed-forward control

Learning feed-forward control(LFFC)is introduced to suppress further the tracking error of permanent magnet linear synchronous motor(PMLSM) servo system.Learning feed-forward control is a form of feedbackerror-learning control,i.e.the control system consists of a feedback controller,and a feed-forward part which is implemented as a function approximator.In this paper,the design and realization of learning feed-forward controller were presented by means of qualitative knowledge of the process and the disturbances.Simulation results indicate that the proposed control strategy can reduces effectively the influence of external disturbances,end effect,and enhance the track performance of the PMLSM servo system.