基于反推技术的永磁直线同步电机控制策略研究
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摘要
数控机床用永磁直线电机伺服系统由于省掉了机械传动机构,使系统对模型不确定性及外部扰动更加敏感。为解决不确定因素对直接驱动系统的影响,本文在国家自然科学基金项目和辽宁省优秀人才支持计划项目的资助下,以反推技术为基础,结合现代控制理论、智能控制方法,对存在参数变化、端部效应及负载扰动等不确定因素的直线伺服系统位置跟踪控制策略进行研究。主要研究内容包括以下几个方面：
1.针对永磁直线同步电机伺服系统的位置跟踪问题,提出首先从位置跟踪误差开始设计虚拟控制器,然后选择虚拟误差、位置误差构成新的子系统设计新的虚拟控制器,通过递推依次对得到的虚拟控制器逐步修正算法,最终设计出实际控制器。最后利用李亚普诺夫稳定性理论对设计的控制系统进行稳定性分析。仿真结果表明,该方法有效削弱了时变外力扰动对系统的影响。
2.为了提高永磁直线同步电机伺服系统位置跟踪鲁棒性,提出采用位置、速度误差设计滑模面函数,构建位置误差、滑模面函数子系统方法设计位置控制器,这样可保证最初的控制器的稳定性和对未知外部扰动的鲁棒性。设计自适应反推滑模观测器观测不确定上界,利用李亚普诺夫稳定性理论对设计的控制系统稳定性进行分析。仿真结果验证了算法可行性。
3.针对永磁直线同步电机伺服系统精确位置跟踪要求,提出用反推控制和智能方法相结合应用于永磁直线同步电机位置跟踪控制。对影响系统跟踪性能的参数摄动、摩擦力及外部负载扰动等不确定因素,采用递归模糊神经网络观测器智能观测不确定上界。递归模糊神经网络输入为位置误差及其导数,输出为不确定上界观测值。网络的递归环将输出信息反馈回输入,可实时捕获不确定因素动态信息。仿真结果表明,该观测器可实时逼近不确定上界,大大提高了补偿精度,从而使系统位置跟踪精确。
4.以DSP TMS320F2812为核心构建永磁直线电机伺服系统实验平台,采用在直线电机动子平台上加质量块改变动子总质量M的变化。分别在额定参数和动子质量变化情况下,针对自适应反推控制和自适应反推滑模控制算法进行实验验证,结果表明理论研究及仿真结果的有效性。
上述研究成果对于直线伺服系统补偿策略实用化,开发高性能智能伺服驱动系统奠定了一定的理论与实践基础。
Permanent magnet linear synchronous motor drive system without mechanical transmission on CNC is more sensitive to model uncertainty and external disturbances. In order to solve the above problems, this dissertation combines some modern control theories and intelligent control methods, with the supports of projects of National Natural Science Foundation of China and Outstanding Talents of Liaoning Province, based on backstepping control, to research the precision positioning control strategy of linear servo system with lumped uncertainties such as parameter variations, end-effects and load disturbances. The main contents are as following:
For position tracking of permanent magnet linear synchronous motor servo system, a virtual controller was proposed by constituting a subsystem of position error, followed by a new virtual controller which is designed by selecting the virtual and position errors to constitute a new sub-system, and an actual controller was obtained by revising algorithm of the virtual controller gradually through recursion. Finally the stability of the proposed control scheme was analyzed through Lyapunov stability theory. Simulation results show that the proposed method is effective to restrain the time-varying load disturbances.
In order to improve the robustness of position tracking in permanent magnet linear synchronous motor servo system, a position controller is proposed by constituting a subsystem including position error and sliding-mode surface by means of sliding-mode surface function adopting position and speed errors. The stability and robustness of the original controller are ensured. As for the unknown upper bound of lumped uncertainties, an adaptive observer is proposed to estimate it. The stability of the proposed control scheme is analyzed by Lyapunov stability theory. Finally, the feasibility of algorithm was verified by simulations.
For exact position tracking of permanent magnet linear synchronous motor servo system, a position tracking controller is proposed by combining backstepping control with intelligent method. A recurrent fuzzy neural network observer is proposed to estimate the upper bound of the lumped uncertainties with parameter perturbation, friction force and external load perturbation. The inputs of recurrent fuzzy neural network are the position error and its derivative, the output is the estimated value of the lumped uncertainties. The output feedback to input by recursive loop of network, the dynamic information of the lumped uncertainties is obtained in real-time. The simulation results show that accurate position tracking was achieved by approaching the upper bound of lumped uncertainties in real-time.
The experiment platform of permanent linear motor servo system is built by taking DSP TMS320F2812 as main controller. Put a mass on linear motor mover platform to change the total mass M. Adaptive backstepping and adaptive backstepping sliding-mode control were verified by experiments with rated parameters and mover variation, which shows the effectiveness of theoretical and simulation results
The theoretical and practical bases were founded for compensation strategies of linear servo systems to develop practical high-performance and intelligent servo drives.
1.针对永磁直线同步电机伺服系统的位置跟踪问题,提出首先从位置跟踪误差开始设计虚拟控制器,然后选择虚拟误差、位置误差构成新的子系统设计新的虚拟控制器,通过递推依次对得到的虚拟控制器逐步修正算法,最终设计出实际控制器。最后利用李亚普诺夫稳定性理论对设计的控制系统进行稳定性分析。仿真结果表明,该方法有效削弱了时变外力扰动对系统的影响。
2.为了提高永磁直线同步电机伺服系统位置跟踪鲁棒性,提出采用位置、速度误差设计滑模面函数,构建位置误差、滑模面函数子系统方法设计位置控制器,这样可保证最初的控制器的稳定性和对未知外部扰动的鲁棒性。设计自适应反推滑模观测器观测不确定上界,利用李亚普诺夫稳定性理论对设计的控制系统稳定性进行分析。仿真结果验证了算法可行性。
3.针对永磁直线同步电机伺服系统精确位置跟踪要求,提出用反推控制和智能方法相结合应用于永磁直线同步电机位置跟踪控制。对影响系统跟踪性能的参数摄动、摩擦力及外部负载扰动等不确定因素,采用递归模糊神经网络观测器智能观测不确定上界。递归模糊神经网络输入为位置误差及其导数,输出为不确定上界观测值。网络的递归环将输出信息反馈回输入,可实时捕获不确定因素动态信息。仿真结果表明,该观测器可实时逼近不确定上界,大大提高了补偿精度,从而使系统位置跟踪精确。
4.以DSP TMS320F2812为核心构建永磁直线电机伺服系统实验平台,采用在直线电机动子平台上加质量块改变动子总质量M的变化。分别在额定参数和动子质量变化情况下,针对自适应反推控制和自适应反推滑模控制算法进行实验验证,结果表明理论研究及仿真结果的有效性。
上述研究成果对于直线伺服系统补偿策略实用化,开发高性能智能伺服驱动系统奠定了一定的理论与实践基础。
Permanent magnet linear synchronous motor drive system without mechanical transmission on CNC is more sensitive to model uncertainty and external disturbances. In order to solve the above problems, this dissertation combines some modern control theories and intelligent control methods, with the supports of projects of National Natural Science Foundation of China and Outstanding Talents of Liaoning Province, based on backstepping control, to research the precision positioning control strategy of linear servo system with lumped uncertainties such as parameter variations, end-effects and load disturbances. The main contents are as following:
For position tracking of permanent magnet linear synchronous motor servo system, a virtual controller was proposed by constituting a subsystem of position error, followed by a new virtual controller which is designed by selecting the virtual and position errors to constitute a new sub-system, and an actual controller was obtained by revising algorithm of the virtual controller gradually through recursion. Finally the stability of the proposed control scheme was analyzed through Lyapunov stability theory. Simulation results show that the proposed method is effective to restrain the time-varying load disturbances.
In order to improve the robustness of position tracking in permanent magnet linear synchronous motor servo system, a position controller is proposed by constituting a subsystem including position error and sliding-mode surface by means of sliding-mode surface function adopting position and speed errors. The stability and robustness of the original controller are ensured. As for the unknown upper bound of lumped uncertainties, an adaptive observer is proposed to estimate it. The stability of the proposed control scheme is analyzed by Lyapunov stability theory. Finally, the feasibility of algorithm was verified by simulations.
For exact position tracking of permanent magnet linear synchronous motor servo system, a position tracking controller is proposed by combining backstepping control with intelligent method. A recurrent fuzzy neural network observer is proposed to estimate the upper bound of the lumped uncertainties with parameter perturbation, friction force and external load perturbation. The inputs of recurrent fuzzy neural network are the position error and its derivative, the output is the estimated value of the lumped uncertainties. The output feedback to input by recursive loop of network, the dynamic information of the lumped uncertainties is obtained in real-time. The simulation results show that accurate position tracking was achieved by approaching the upper bound of lumped uncertainties in real-time.
The experiment platform of permanent linear motor servo system is built by taking DSP TMS320F2812 as main controller. Put a mass on linear motor mover platform to change the total mass M. Adaptive backstepping and adaptive backstepping sliding-mode control were verified by experiments with rated parameters and mover variation, which shows the effectiveness of theoretical and simulation results
The theoretical and practical bases were founded for compensation strategies of linear servo systems to develop practical high-performance and intelligent servo drives.
引文
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