基于反馈线性化的直线永磁同步电机速度跟踪控制研究
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摘要
本课题是以国家自然科学基金资助项目《永磁直线交流电机驱动的高精度微进给伺服系统的研究》(59875061)为背景，将反馈线性化控制理论应用于交流直线永磁同步伺服电动机速度跟踪控制系统当中，给出了非线性反馈控制律和速度跟踪控制律，并利用李雅普诺夫函数稳定性理论和计算机仿真实验，验证了该反馈线性化速度跟踪控制方法的有效性。
由于三相交流直线永磁同步电动机具有电磁推力强度高、损耗低、电气时间常数小及响应快等特点，并且消除了旋转电动机由旋转运动到直线运动机械传动链的影响，所以，直线永磁同步伺服电动机在高精度、高速度、微进给交流伺服系统中得到了广泛的应用。但是，由于三相交流直线永磁同步电动机具有非线性和变量耦合的特性，使得其在高速度和超高速度化，精确化和超精密化，高速跟踪反应能力的直线伺服进给驱动中受到了一定的限制。本文正是为解决此类非线性限制问题而进行了深入的理论研究，在综合分析三相交流直线永磁同步伺服电动机非线性动态数学模型的基础上，采用反馈线性化控制理论，建立了三相交流直线永磁同步电动机速度跟踪闭环系统动态的输入—输出模型，进而通过该线性化模型设计反馈控制律、速度跟踪控制律和负载阻力扰动观测器，在保证整个闭环系统稳定的前提下，提高伺服跟踪的快速性和精确性。
本课题通过对非线性控制理论的分析与应用，构造出李雅普诺夫函数，对提出的控制方案进行了严格的理论验证。最后通过计算机仿真实验研究，表明该反馈线性化控制方法既保证了伺服跟踪系统的稳定性、快速性和精确性，又抑制了负载扰动的影响。
The background of the thesis is "research for the high precision and micro feed of the Linear Permanent Magnet Servo Motor System drives" (59875061), which is supported by National Natural Science Foundation of China.
In the paper, A theory of feedback linearization control is introduced and used in the system of speed tracking for the AC Linear Permanent Servo Magnet Motor (LPMSM).The law how to design nonlinear feedback and speed tracking is also introduced ,and the stability of the closed loop system is shown by the way of Lyapunov stability theory, and it is also verified by a real-time implementation.
Because the Linear Permanent Magnet Servo Motor (LPMSM) has avoided the effects of the mechanical transmission chairs from rotary motions to linear ones, and has intention electromagnetism thrust, lower cost ,small electrical time constant and rapid response etc.,so the LPMSM is more and more employed in the high-speeding , high-precision and micro-feed servo system .however , the control of these drives in the high-speeding and higher-speeding, high-precision and higher-precision is not an easy task ,due to their no linearity and coupling . this paper has researched problems based these nonlinear and according to the nonlinear dynamic mathematical model of three-phase AC linear permanent magnet synchronous servo motor ,the dynamic input-output mathematical model of the close-loop system of this motor is established with the method of the sate feedback linearization . Furthermore, through the linearization model, the control laws of the aped tracking and feedback is designed and so the
observer is designed and it can improve the velocity and accuracy of the speed-tracking under the condition which guaranteed the stability of the whole closed loop system. After a brief study of the theory of the nonlinear, the Function of Lyapunov is designed ,which provide enough testify for the theory. Finally, through the computer simulation research ,the results show that the feedback linearization method is simple and applicable , and the celerity , accuracy , and stability of the speed tracking system are achieved in the same time , the effect of the disturb is avoided.
由于三相交流直线永磁同步电动机具有电磁推力强度高、损耗低、电气时间常数小及响应快等特点，并且消除了旋转电动机由旋转运动到直线运动机械传动链的影响，所以，直线永磁同步伺服电动机在高精度、高速度、微进给交流伺服系统中得到了广泛的应用。但是，由于三相交流直线永磁同步电动机具有非线性和变量耦合的特性，使得其在高速度和超高速度化，精确化和超精密化，高速跟踪反应能力的直线伺服进给驱动中受到了一定的限制。本文正是为解决此类非线性限制问题而进行了深入的理论研究，在综合分析三相交流直线永磁同步伺服电动机非线性动态数学模型的基础上，采用反馈线性化控制理论，建立了三相交流直线永磁同步电动机速度跟踪闭环系统动态的输入—输出模型，进而通过该线性化模型设计反馈控制律、速度跟踪控制律和负载阻力扰动观测器，在保证整个闭环系统稳定的前提下，提高伺服跟踪的快速性和精确性。
本课题通过对非线性控制理论的分析与应用，构造出李雅普诺夫函数，对提出的控制方案进行了严格的理论验证。最后通过计算机仿真实验研究，表明该反馈线性化控制方法既保证了伺服跟踪系统的稳定性、快速性和精确性，又抑制了负载扰动的影响。
The background of the thesis is "research for the high precision and micro feed of the Linear Permanent Magnet Servo Motor System drives" (59875061), which is supported by National Natural Science Foundation of China.
In the paper, A theory of feedback linearization control is introduced and used in the system of speed tracking for the AC Linear Permanent Servo Magnet Motor (LPMSM).The law how to design nonlinear feedback and speed tracking is also introduced ,and the stability of the closed loop system is shown by the way of Lyapunov stability theory, and it is also verified by a real-time implementation.
Because the Linear Permanent Magnet Servo Motor (LPMSM) has avoided the effects of the mechanical transmission chairs from rotary motions to linear ones, and has intention electromagnetism thrust, lower cost ,small electrical time constant and rapid response etc.,so the LPMSM is more and more employed in the high-speeding , high-precision and micro-feed servo system .however , the control of these drives in the high-speeding and higher-speeding, high-precision and higher-precision is not an easy task ,due to their no linearity and coupling . this paper has researched problems based these nonlinear and according to the nonlinear dynamic mathematical model of three-phase AC linear permanent magnet synchronous servo motor ,the dynamic input-output mathematical model of the close-loop system of this motor is established with the method of the sate feedback linearization . Furthermore, through the linearization model, the control laws of the aped tracking and feedback is designed and so the
observer is designed and it can improve the velocity and accuracy of the speed-tracking under the condition which guaranteed the stability of the whole closed loop system. After a brief study of the theory of the nonlinear, the Function of Lyapunov is designed ,which provide enough testify for the theory. Finally, through the computer simulation research ,the results show that the feedback linearization method is simple and applicable , and the celerity , accuracy , and stability of the speed tracking system are achieved in the same time , the effect of the disturb is avoided.
引文
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[2] 贺振明．高速铣削在模具制造中的应用．机电一体化，1998，(4)．27页
[3] 魏志强，王先逵，杨志刚．高速加工机床及其关键技术．制造技术与机床，1998，(1)．69～71
[4] S．A．纳斯尔，I．波尔达著，龙遐令等译．直线电机．北京：科学出版社，1982
[5] 浙江大学编译．直线感应电动机(译文本)．北京：科学出版社，1978
[6] 上海工业大学，上海电机厂编．直线异步电动机．北京：机械工业出版社，1979
[7] M．波罗亚多夫．直线感应电机理论．北京：科学出版社，1985
[8] 叶云岳编著．直线电机原理与应用．北京：机械工业出版社，2000
[9] 中国机床工业协会1994赴美、日考察工作组．直线伺服电机传动和高速加工，制造技术与机床．1995，(9)．306～309
[10] Anurhein. Motor-Electronic Control-Precision of Position: Contributions for the Design of Permanent Magnet Excited Drive System with Minimum Parasitic Speed Variation. Verlag der Fachvereine an den Schweizerischen Hochschulen und Jechuiken, Zurih, 1989
[11] 海锦涛，张立斌等．先进制造技术．北京：机械工业出版社，1996
[12] Hemati N. A Complete Model Characterization of Brushless Operation.IEEE Trans. Onlndu. Appl. 1992, 28(4) pp172～180
[13] 赵春雨，朱洪涛，闻邦椿．多机传动系统的同步控制．控制理论与应用，1999， 16(2)．179～183
[14] 高文章主编．数控机床主机共性关键技术．北京：机械工业部，1995
[15] Butler J, Tomizuka M. Trajectory Planning for High Speed Multiple Axis Contouring Systems. Proceeding of the 1989 American Control Conference, Pittsburgh, PA1989, pp87～97
[16] Koren Y. Cross-coupled Biaxial Computer Control for Manufacturing System. ASME Journal of dynamic systems, measurement and control, 1980,102(12) pp256～272
[17] Kulkami P, Srinivasaa K. Cross-coupled Compensators for Contouring Control of Multi-axial Machine Tools. In Proceedings of the 13th North American Manufacturing Research Conference, 1985, pp558～566
[18] Guo Qingding, Luo Ruifu ang Wang Limei. Robust Fuzzy Variable Structure Control of PMLSM Servo System. Proc. of ICIPS'97
[19] Luo Reifu, Wang Limei and Guo Qingding. Direct Neural Network Adaptive Observer Control for PMSM. Proc. of ICIPS'97
[20] 付兴武，赵克定，刘庆和．双马达同步驱动系统自适应神经元网络控制．哈尔滨工业大学学报，1999，31(5)．111～113
[21] 孙文焕，程善美，王晓翔，秦忆．多电机协调控制的发展．电气传动，1999，29(6)．3～6
[22] 尹佑盛，邹昌平，梁锡昌编著．机械控制学．重庆：重庆出版社，1997
[23] 唐任远主编．特种电机．北京：机械工业出版社，1998
[24] 顾绳谷．电机及拖动基础．北京：机械工业出版社，1992
[25] 李志民，张遇杰．同步电动机调速系统．北京：机械工业出版社，1996
[26] 陈伯时．电力拖动自动控制系统(第二版)．北京：机械工业出版社，1996
[27] 郭庆鼎，王成元．异步电动机的矢量变换控制原理及应用．沈阳：辽宁民族出版社，1988
[28] 周悦，郭威，郭庆鼎．永磁直线同步电机伺服系统位置控制器的设计．沈阳建筑工程学院学报，1998，(4)．561～563
[29] 刘明灯，陆启键．直线电机与DSP高速运动控制器的应用．中国机电工程，1999，(10)．465页
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