基于Tabu参数辨识的直线电机推力波动复合抑制方法
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摘要
为抑制周期性扰动与不确定性因素所引起的推力波动对直线电机跟踪精度的影响,提出一种定位力前馈补偿与扰动观测相结合的复合抑制方法。首先分析定位力的周期特性并建立数学模型。利用禁忌搜索算法(Tabu)辨识模型中的参数,并构建前馈控制器。同时设计扰动观测器(DOB)补偿其他非周期扰动。由实验结果可以看出,不同速度下系统的稳态跟踪误差明显降低,表明复合控制有效地抑制了推力波动,提高了伺服精度。
In order to suppress the influence of thrust fluctuation caused by periodic disturbance and uncertainty on the tracking accuracy of linear motor, a composite suppression method combining feedforward compensation with disturbance observation is proposed. the periodicity of positioning force is analyzed firstly, and a mathematical model is established. The tabu search algorithm(Tabu) is used to identify the parameters in the model and the feedforward controller is constructed. At the same time, a disturbance observer(DOB) is designed to compensate for other aperiodic disturbances. It can be seen from the experimental results that the steady-state tracking error of the system is obviously reduced under different speeds. It shows that compound control can effectively suppress the thrust fluctuation and improve the servo precision.
In order to suppress the influence of thrust fluctuation caused by periodic disturbance and uncertainty on the tracking accuracy of linear motor, a composite suppression method combining feedforward compensation with disturbance observation is proposed. the periodicity of positioning force is analyzed firstly, and a mathematical model is established. The tabu search algorithm(Tabu) is used to identify the parameters in the model and the feedforward controller is constructed. At the same time, a disturbance observer(DOB) is designed to compensate for other aperiodic disturbances. It can be seen from the experimental results that the steady-state tracking error of the system is obviously reduced under different speeds. It shows that compound control can effectively suppress the thrust fluctuation and improve the servo precision.
引文
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[14] 荀倩,王培良,蔡志端,等. 基于负载转矩观测器的PMSM抗负载扰动控制策略[J]. 电工电能新技术,2016,35(5): 36-41,54.
[15] 林健,汪木兰,陈桂,等. 直线电动机应用于数控机床的共性技术研究[J]. 中国制造业信息化,2012,41(11): 53-56,60.
[16] Bascetta L, Rocco P, Magnani G. Force Fipple Compensation in Linear Motors Based on Closed-loop Position-dependent Identification [J]. IEEE Transactions on Mechatronics,2010,15(3): 221-228.
[17] Zhao W, Cheng M, Chau K T, et al. Remedial Injected-Harmonic-Current Operation of Redundant Flux-Switching Permanent-Magnet Motor Drives [J]. IEEE Transactions on Industrial Electronics, 2012, 60(1):151-159.
[2] Liu C T,Hwang C C,Li P L,et al. Design Optimization of a Double-Sided Hybrid Excited Linear Flux Switching PM Motor With Low Force Ripple [J]. IEEE Transactions on Magnetics,2014,50(11): 1-4.
[3] 黄磊,胡敏强,刘静,等. 双边长初级磁通切换永磁直线电机推力波动分析及抑制[J]. 电工技术学报,2014,29(11): 10-19.
[4] 杨益飞,骆敏舟,贺乃宝. 永磁同步直线电机建模及混沌搜索优化设计[J]. 电机与控制应用,2017,44(9): 34-38,43.
[5] XU Chen,MASAYOSHI Tomizuka. A minimum parameter adaptive approach for rejecting multiple narrow-band disturbances with application to hard disk drives [J]. IEEE Transactions on Control Systems Technology,2012,20(2): 408-415.
[6] 曾岳南,彭瑞,汤键,等. 基于BP神经网络的直线电机推力波动抑制研究[J]. 电力电子技术,2015,49(5): 28-30.
[7] 王福忠,张利敏. 基于迭代算法的PMLSM推力波动抑制策略[J]. 计算机仿真,2014,31(5): 276-278,283.
[8] 陈兴林,刘川,刘杨,等. 精密运动平台宏微控制系统的设计[J]. 中南大学学报(自然科学版),2013,44(6): 2318-2323.
[9] 赵希梅,郭庆鼎. 为提高轮廓加工精度采用DOB和ZPETC的直线伺服鲁棒跟踪控制[J]. 电工技术学报,2006,21(6): 111-114,126.
[10] 贾红云,程明,花为,等. 基于电流谐波注入的磁通切换永磁电机定位力矩补偿方法[J]. 中国电机工程学报,2009,29(27): 83-89.
[11] 刘俊,李世军. 基于谐波注入的永磁直线同步电机齿槽定位力补偿[J]. 控制工程,2016,23(9): 1401-1406.
[12] 王秀和. 永磁电机[M]. 北京: 中国电力出版社,2007.
[13] 黄玉平,吴红星,洪作光,等. 基于动磁式永磁同步直线电机定位力的研究[J]. 微电机,2010,43(6): 28-31.
[14] 荀倩,王培良,蔡志端,等. 基于负载转矩观测器的PMSM抗负载扰动控制策略[J]. 电工电能新技术,2016,35(5): 36-41,54.
[15] 林健,汪木兰,陈桂,等. 直线电动机应用于数控机床的共性技术研究[J]. 中国制造业信息化,2012,41(11): 53-56,60.
[16] Bascetta L, Rocco P, Magnani G. Force Fipple Compensation in Linear Motors Based on Closed-loop Position-dependent Identification [J]. IEEE Transactions on Mechatronics,2010,15(3): 221-228.
[17] Zhao W, Cheng M, Chau K T, et al. Remedial Injected-Harmonic-Current Operation of Redundant Flux-Switching Permanent-Magnet Motor Drives [J]. IEEE Transactions on Industrial Electronics, 2012, 60(1):151-159.