基于模型扰动抑制的直线伺服系统设计

针对高精度、微进给永磁直线交流同步电机 (PMLSM )驱动系统 ,采用基于模型的扰动抑制 (MBDA)方法 ,对诸如摩擦力、切削力、负载变动之类的扰动进行抑制。MBDA是利用一个与系统并行的标称模型 ,通过输出反馈 ,将系统输出与标称模型输出进行比较 ,得出误差信号 ,并通过设计一个补偿器将误差信号反馈给被控对象的输入端 ,从而实现扰动抑制。同时 ,针对速度环设计了积分 -比例 (IP)控制器 ,以满足系统快速跟踪指令的要求 ,并且其具有较强的抗扰动能力。仿真结果表明 ,该控制方法响应速度快 ,抗干扰能力强

The Design of Model-Based Disturbance Attenuation for Linear Servo System

This paper adopts Model-Based Disturbance Attenuation (MBDA) method, which attenuates external disturbances such as frictional forces, cutting forces, load variations for a permanent magnet linear AC synchronous motor (PMLSM) with high precision and micro-feed. The MBDA uses the nominal plant in parallel form with the plant and uses the output feedback. The error signal, which is the difference between the plant output and the nominal plant output, is fed back through a compensator. IP controller is designed in velocity loop, which is to meet the fast tracking and resist disturbance greatly. Simulation results verify that this control method has fast response speed and strong disturbance attenuation.