基于_理论的永磁直线同步电机鲁棒重复控制_孙宜标.pdfVIP

第29 卷 第30 期 中 国 电 机 工 程 学 报 Vol.29 No.30 Oct. 25, 2009 52 2009 年10 月25 日 Proceedings of the CSEE ©2009 Chin.Soc.for Elec.Eng. 0258-8013 (2009) 30-0052-06 TP 273; TM 303 A 470 40 文章编号： 中图分类号： 文献标志码： 学科分类号： ⋅ 基于 µ 理论的永磁直线同步电机鲁棒重复控制 孙宜标，闫峰，刘春芳 (沈阳工业大学电气工程学院，辽宁省 沈阳市 110178) Robust Repetitive Control for Permanent-magnet Linear Synchronous Motor Based on µ Theory SUN Yi-biao, YAN Feng, LIU Chun-fang (School of Electrical Engineering, Shenyang University of Technology, Shenyang 110178, Liaoning Province, China) ABSTRACT: Permanent-magnet linear synchronous motor (robust repetitive controller，RRC) ，实现系统的稳定性和鲁 (PMLSM) servo system has the merits of high speed, high 棒性，提高系统的跟踪特性。仿真结果表明，该控制方案有 response, and direct drive, but the servo performance is 效抑制了PMLSM 伺服系统的周期性扰动及不确定性，提高 affected by the position-dependent periodic thrust ripple caused 了系统的鲁棒性和跟踪特性。 by ending effect, friction and parameters uncertainties. To 关键词：永磁直线同步电机；结构奇异值；重复控制；端部 weaken the influences of the position-dependent periodic 效应；周期性扰动 disturbances and parameter uncertainties, the robust repetitive controller was designed, which associated structure singular 0 引言 value theory (µ theory) with the discrete-time repetitive control 目前，在高档数控机床加工中，采用直接驱动 theory. The problem of robust repetitive control was transformed into one of H∞ optimal control using linear 方式代替传统间接驱动方式成为伺服驱动技术的发 fractional transform