永磁直线同步电动机鲁棒控制策略研究
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摘要
本文以国家自然科学基金项目“永磁直线交流电动机驱动的高精度微进给伺服系统的研究”(NO.59875061)为研究背景,以当代高档数控机床用永磁直线同步电动机(PMLSM)伺服系统为研究对象,针对直线电机直接驱动的特点以及数控机床对伺服系统鲁棒性和跟踪性能的要求,研究了系统参数变化及负载扰动等诸多不确定性因素对PMLSM伺服系统性能影响。主要包括如下几个部分内容:
在分析永磁直线同步电动机伺服系统中存在的各种不确定性的基础上,针对PMLSM特有的强端部效应干扰的不确定性,提出了将定量反馈理论(QFT)应用于PMLSM伺服系统的鲁棒跟踪控制策略。采用频域理论设计的QFT鲁棒控制器作为速度控制器,将对象的不确定范围和系统的性能指标用定量的方式在Nichols图上形成边界,进而以基准对象的开环频率曲线满足边界条件为要求在Nichols图上对系统进行设计与整形,并设计了前置滤波器以补偿系统的动态性能。仿真结果表明,该控制方案可以有效地抑制电机参数变化和其它扰动等不确定性因素对伺服性能的影响,提高了动态跟踪性能,在很大程度上提高了系统的精度。
传统的QFT设计需要在Nichols图上进行回路整形来求得控制器,此种方法给设计带来一些不便。为此,本文提出了采用H_∞控制方法代替做图来求解控制器,通过合理的选取被控对象不确定性权函数、高频噪声抑制权函数和灵敏度权函数,利用以线性矩阵不等式为基础的H_∞控制求得QFT速度控制器,这样,简化了QFT的设计步骤,前置滤波器则使系统的输出响应符合性能指标的要求。仿真结果表明,结合QFT和H_∞控制方法,设计永磁直线同步电机的鲁棒跟踪控制器,大大提高了系统的性能。
为了进一步提高直线电机伺服系统的跟踪性能和鲁棒性能,文中还论述了另一种可供选择的方法,将H_∞鲁棒控制和滑模控制(SMC)相结合的SM/H_∞鲁棒控制方法应用于永磁直线同步电动机伺服系统,设计的滑模控制器保证了快速跟踪性能,而H_∞鲁棒控制器则能经受住闭环系统内的各种扰动,性能进一步提高。仿真结果表明,结合滑模和H_∞控制方法设计永磁直线同步电机的鲁棒跟踪控制器,具有良好的跟踪性能,并对系统参数变化具有较强的鲁棒性。
采用两台直线电动机对拖的加载实验方案构建PMLSM实验系统平台,分别对基于PI的控制方法、QFT/ H_∞鲁棒控制方法以及滑模/ H_∞鲁棒控制方法,在速度闭环情况下进行突加负载及参数变化等条件下的对比实验研究,验证了本文所提出控制策略的理论研究及仿真结果的有效性。
The paper is supported by National Natural Science Foundation of China“Research of High-precision Micro feed PMLSM AC Servo System”(NO.59875061). The paper researched on the permanent magnet linear synchronous motor (PMLSM) servo system used in modern advanced NC machine tool. For the characteristic of direct drive and the requirements of robustness and tracking performance for the servo system in NC machine tools, this paper focused on the control issues for the PMLSM servo system with the uncertainties of parameter changes and load disturbances. Main contents of the paper are stated as the follows.
Based on analyzing the uncertainties of the permanent magnet linear synchronous motor servo system, for the uncertainty of PMLSM specific caused by strong end effect disturbance, a robust tracking control strategy was put forward in which the Quantitative Feedback Theory (QFT) is applied in PMLSM robust servo system. Frequency-domain theory is used to design the QFT robust controller, which is adopted as the speed controller. In addition, the uncertain scope of the object and system performance index were used in a quantitative manner to form the boundary in the Nichols chart, so as to conduct system design and shaping on the Nichols chart under the condition that the open-loop frequency curve of the reference object meets the boundary conditions, The pre-filter was designed to compensate for the dynamic performance of the system. Simulation results show that the control scheme can effectively suppress the impact on the servo performance motor, which results from the uncertainties such as parameters change and other disturbances, enhance the dynamic tracking performance, as well as improve the accuracy of the system to a great degree.
The traditional design of QFT needs to conduct loop shaping on the Nichols chart so as to obtain a controller, which causes some inconvenience in the design. Therefore, this paper proposed H_∞control method instead of charting to obtain a controller. By means of the rational selections of the uncertainty weighting function, the high-frequency noise suppression weight function and the sensitivity weight function, H_∞control is used to obtain QFT speed controller based on linear matrix inequalities. The proposed method not only simplifies the QFT design steps, but also guarantees that a pre-filter makes the system output response satisfy the performance requirements. Simulation results show that the robust tracking controller for PMLSM based on combing QFT and H_∞control method improves the performance of the system greatly.
In order to further increase tracking performance and robust performance of the linear motor servo system, the control method combing the H_∞robust control and sliding mode control(SMC) was applied to permanent magnet linear synchronous motor servo system. Sliding mode controller ensures fast tracking performance, while the H_∞robust controller suppresses a variety of disturbances within the closed-loop system and improves the performance. Simulation results show that the robust tracking controller combing the sliding mode and H_∞control method for permanent magnet linear synchronous motor shows good tracking performance, and presents strong robustness on the changes in system parameters.
PMLSM experimental system platform was built on the dual-linear motor loading scheme. PID control method, QFT/ H_∞control method and sliding mode/ H_∞robust control method were compared in the experiments under the circumstances of the speed loop sudden loaded and parameters change. The comparative experimental results verifie the validity of control strategies proposed in theoretical analysis and simulation.
在分析永磁直线同步电动机伺服系统中存在的各种不确定性的基础上,针对PMLSM特有的强端部效应干扰的不确定性,提出了将定量反馈理论(QFT)应用于PMLSM伺服系统的鲁棒跟踪控制策略。采用频域理论设计的QFT鲁棒控制器作为速度控制器,将对象的不确定范围和系统的性能指标用定量的方式在Nichols图上形成边界,进而以基准对象的开环频率曲线满足边界条件为要求在Nichols图上对系统进行设计与整形,并设计了前置滤波器以补偿系统的动态性能。仿真结果表明,该控制方案可以有效地抑制电机参数变化和其它扰动等不确定性因素对伺服性能的影响,提高了动态跟踪性能,在很大程度上提高了系统的精度。
传统的QFT设计需要在Nichols图上进行回路整形来求得控制器,此种方法给设计带来一些不便。为此,本文提出了采用H_∞控制方法代替做图来求解控制器,通过合理的选取被控对象不确定性权函数、高频噪声抑制权函数和灵敏度权函数,利用以线性矩阵不等式为基础的H_∞控制求得QFT速度控制器,这样,简化了QFT的设计步骤,前置滤波器则使系统的输出响应符合性能指标的要求。仿真结果表明,结合QFT和H_∞控制方法,设计永磁直线同步电机的鲁棒跟踪控制器,大大提高了系统的性能。
为了进一步提高直线电机伺服系统的跟踪性能和鲁棒性能,文中还论述了另一种可供选择的方法,将H_∞鲁棒控制和滑模控制(SMC)相结合的SM/H_∞鲁棒控制方法应用于永磁直线同步电动机伺服系统,设计的滑模控制器保证了快速跟踪性能,而H_∞鲁棒控制器则能经受住闭环系统内的各种扰动,性能进一步提高。仿真结果表明,结合滑模和H_∞控制方法设计永磁直线同步电机的鲁棒跟踪控制器,具有良好的跟踪性能,并对系统参数变化具有较强的鲁棒性。
采用两台直线电动机对拖的加载实验方案构建PMLSM实验系统平台,分别对基于PI的控制方法、QFT/ H_∞鲁棒控制方法以及滑模/ H_∞鲁棒控制方法,在速度闭环情况下进行突加负载及参数变化等条件下的对比实验研究,验证了本文所提出控制策略的理论研究及仿真结果的有效性。
The paper is supported by National Natural Science Foundation of China“Research of High-precision Micro feed PMLSM AC Servo System”(NO.59875061). The paper researched on the permanent magnet linear synchronous motor (PMLSM) servo system used in modern advanced NC machine tool. For the characteristic of direct drive and the requirements of robustness and tracking performance for the servo system in NC machine tools, this paper focused on the control issues for the PMLSM servo system with the uncertainties of parameter changes and load disturbances. Main contents of the paper are stated as the follows.
Based on analyzing the uncertainties of the permanent magnet linear synchronous motor servo system, for the uncertainty of PMLSM specific caused by strong end effect disturbance, a robust tracking control strategy was put forward in which the Quantitative Feedback Theory (QFT) is applied in PMLSM robust servo system. Frequency-domain theory is used to design the QFT robust controller, which is adopted as the speed controller. In addition, the uncertain scope of the object and system performance index were used in a quantitative manner to form the boundary in the Nichols chart, so as to conduct system design and shaping on the Nichols chart under the condition that the open-loop frequency curve of the reference object meets the boundary conditions, The pre-filter was designed to compensate for the dynamic performance of the system. Simulation results show that the control scheme can effectively suppress the impact on the servo performance motor, which results from the uncertainties such as parameters change and other disturbances, enhance the dynamic tracking performance, as well as improve the accuracy of the system to a great degree.
The traditional design of QFT needs to conduct loop shaping on the Nichols chart so as to obtain a controller, which causes some inconvenience in the design. Therefore, this paper proposed H_∞control method instead of charting to obtain a controller. By means of the rational selections of the uncertainty weighting function, the high-frequency noise suppression weight function and the sensitivity weight function, H_∞control is used to obtain QFT speed controller based on linear matrix inequalities. The proposed method not only simplifies the QFT design steps, but also guarantees that a pre-filter makes the system output response satisfy the performance requirements. Simulation results show that the robust tracking controller for PMLSM based on combing QFT and H_∞control method improves the performance of the system greatly.
In order to further increase tracking performance and robust performance of the linear motor servo system, the control method combing the H_∞robust control and sliding mode control(SMC) was applied to permanent magnet linear synchronous motor servo system. Sliding mode controller ensures fast tracking performance, while the H_∞robust controller suppresses a variety of disturbances within the closed-loop system and improves the performance. Simulation results show that the robust tracking controller combing the sliding mode and H_∞control method for permanent magnet linear synchronous motor shows good tracking performance, and presents strong robustness on the changes in system parameters.
PMLSM experimental system platform was built on the dual-linear motor loading scheme. PID control method, QFT/ H_∞control method and sliding mode/ H_∞robust control method were compared in the experiments under the circumstances of the speed loop sudden loaded and parameters change. The comparative experimental results verifie the validity of control strategies proposed in theoretical analysis and simulation.
引文
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