基于电磁直线执行器的运动控制技术研究
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摘要
电磁直线执行器将电能直接转换成直线运动机械能,不需要任何中间转换机构,能显著提升直线运动性能,近年来在工业自动化、机器人等领域得到了广泛的应用。电磁直线执行器及其运动控制技术是直接驱动领域的关键技术,本文围绕一类应用轴向充磁永磁体的动圈式新型电磁直线执行器及其运动控制技术展开了一系列研究。
研制并分析了新型电磁直线执行器的结构、工作原理和性能特点,建立了电磁直线执行器的数学模型,构建了基于Matlab/Simulink的系统仿真模型,研制了基于数字信号处理器的电磁直线执行器运动控制系统软硬件平台,并在此基础上进行运动控制技术的仿真和实验研究。
为解决新型电磁直线执行器所特有的换相推力波动问题,提出了基于预测电流控制的换相推力波动抑制技术。分析了换相推力波动的产生机理及条件,剖析了预测电流控制的工作原理,分别给出了电磁直线执行器处于高、低速运动时的换相推力波动抑制策略。与现有的无刷直流电机换相转矩波动抑制技术相比,所提方法具有系统配置简单、精度高、易于实现和适用于全数字控制系统等特点,有效地减小了换相推力波动,有利于新型电磁直线执行器实现高性能的直线运动。
高精度轨迹跟踪是电磁直线执行器运动控制的重要任务之一,为此开发出了基于改进型自抗扰控制器的高精度轨迹跟踪运动控制技术。利用参考加速度作为前馈控制量对常规自抗扰控制器加以改进,分别考察了改进型自抗扰控制器的正弦轨迹跟踪能力、不同目标值的点到点运动轨迹跟踪能力、系统参数摄动抑制能力以及外部扰动抑制能力等,并与加入了前馈控制的比例-积分-微分控制器、常规自抗扰控制器进行了对比分析。研究结果表明,提出的改进型自抗扰控制器不但保留了常规自抗扰控制器优良的扰动抑制能力,还有效地提高了其轨迹跟踪精度,为高精度轨迹跟踪控制问题提供了一个新的解决方案。
针对电磁直线执行器运动控制的另一项重要任务——高速运动下的高精度定位,提出了基于扩张状态观测器的时间最优点位运动控制技术。将双积分系统的时间最优控制与扩张状态观测器相结合,并以此为基础设计了电磁直线执行器的高速高精度点位运动控制系统,利用李雅普诺夫第二法分析了该控制系统的稳定性。采用特殊的非线性函数对时间最优控制的抖振现象进行了改进。实验结果表明,目标位置为8mm、最大速度为1m/s时的定位误差为2μm；目标位置为32mm、最大速度为1.6m/s时的定位误差为3μm；现有条件下达到的最大速度为3.1m/s。
最后对新型电磁直线执行器的一类典型应用——六自由度运动平台的控制进行了实验研究。构建了基于dSPACE的运动控制系统,利用基于运动学的控制方法对六自由度运动平台进行控制,采用预测电流控制法和改进型自抗扰控制器对各电磁直线执行器进行轨迹跟踪控制。研究结果表明,各个电磁直线执行器均能较好地跟踪各自的目标轨迹,带动上平台实现给定的运动规律,验证了所提控制方法的有效性,体现了新型电磁直线执行器在六自由度运动平台中良好的应用前景。
Electromagnetic linear actuators obtain high performance linear motions by eliminating mechanical transmission mechanisms, and they have been widely used in industrial applications such as automation and robotics in recent years. Electromagnetic linear actuators and their motion control are key technology to realize high performance linear motions. In this dissertation, a series of researches were done on motion control of a novel moving-coil electromagnetic linear actuator based on axially-magnetized magnets.
The novel electromagnetic linear actuator was made, and its structure, working principle and characteristics were analyzed. Mathematical model was built, and the system simulation model was established based on Matlab/Simulink. Control system of the electromagnetic linear actuator was constructed based on a digital-signal-processor. Simulation and experiments were carried out based on aforementioned systems.
To reduce the commutation force ripple in the novel electromagnetic linear actuator, a compensation approach based on predictive current control was proposed. Conditions of the commutation force ripple generation and working principle of the predictive current control were analyzed. Commutation force ripple reduction strategies in high and low speed operation were given respectively. Compared with the existing compensation methods used for brushless DC motors, the presented approach has the advantages of simple system configuration, high precision and easy to implement. Commutation force ripple was reduced effectively with the proposed method, which is good for the novel electromagnetic linear actuator to realize high performance linear motions.
One important motion control task of the electromagnetic linear actuator is precision trajectory tracking, and a modified active disturbance rejection controller has been developed to accomplish this task. A reference acceleration feedforward was added to the conventional active disturbance rejection controller, and its control abilities of sinusoidal trajectory tracking, different point-to-point motion trajectories tracking, parameter variations and external disturbance rejection were tested. Compared with the PID controller with reference acceleration feedforward and conventional active disturbance rejection controller, the proposed modified active disturbance rejection controller achieved precision trajectory tracking control besides the original excellent disturbance rejection performance. Consequently, this novel electromagnetic linear actuator along with the modified active disturbance rejection controller provides a new solution for high-performance linear motion applications.
The other important motion control task of the electromagnetic linear actuator is precision positioning under high speeds. An extended state observer-based time-optimal control was proposed to achieve fast and precision point-to-point motions. Extended state observer was combined with time-optimal control of the double-integrator system, and on this basis fast and precision point-to-point motion control system of the electromagnetic linear actuator was designed. Closed-loop stability of the control system was analyzed according to the Lyapunov's second method. Special nonlinear functions were used to eliminate the chattering of the time optimal control. Experimental results indicated that when the desired position was8mm and the maximum velocity was1m/s, the positioning error was2μm. When the desired position was32mm and the maximum velocity was1.6m/s, the positioning error was3μm. The maximum velocity under exsiting conditions was3.1m/s.
Finally, a typical application of the novel electromagnetic linear actuator was studied, that is the motion control of a6-DOF platform. Motion control system was constructed based on dSPACE. Trajectory tracking experiments of the6-DOF platform were carried out based on kinematic control methods, predictive current control and modified active disturbance rejection controller. Experimental results indicated that each electromagnetic linear actuator tracked its desired trajectory accurately, and the upper platform realized the given pose well. The proposed control methods are verified effective, and the novel electromagnetic linear actuator exhibits its good potential in6-DOF platform applications.
研制并分析了新型电磁直线执行器的结构、工作原理和性能特点,建立了电磁直线执行器的数学模型,构建了基于Matlab/Simulink的系统仿真模型,研制了基于数字信号处理器的电磁直线执行器运动控制系统软硬件平台,并在此基础上进行运动控制技术的仿真和实验研究。
为解决新型电磁直线执行器所特有的换相推力波动问题,提出了基于预测电流控制的换相推力波动抑制技术。分析了换相推力波动的产生机理及条件,剖析了预测电流控制的工作原理,分别给出了电磁直线执行器处于高、低速运动时的换相推力波动抑制策略。与现有的无刷直流电机换相转矩波动抑制技术相比,所提方法具有系统配置简单、精度高、易于实现和适用于全数字控制系统等特点,有效地减小了换相推力波动,有利于新型电磁直线执行器实现高性能的直线运动。
高精度轨迹跟踪是电磁直线执行器运动控制的重要任务之一,为此开发出了基于改进型自抗扰控制器的高精度轨迹跟踪运动控制技术。利用参考加速度作为前馈控制量对常规自抗扰控制器加以改进,分别考察了改进型自抗扰控制器的正弦轨迹跟踪能力、不同目标值的点到点运动轨迹跟踪能力、系统参数摄动抑制能力以及外部扰动抑制能力等,并与加入了前馈控制的比例-积分-微分控制器、常规自抗扰控制器进行了对比分析。研究结果表明,提出的改进型自抗扰控制器不但保留了常规自抗扰控制器优良的扰动抑制能力,还有效地提高了其轨迹跟踪精度,为高精度轨迹跟踪控制问题提供了一个新的解决方案。
针对电磁直线执行器运动控制的另一项重要任务——高速运动下的高精度定位,提出了基于扩张状态观测器的时间最优点位运动控制技术。将双积分系统的时间最优控制与扩张状态观测器相结合,并以此为基础设计了电磁直线执行器的高速高精度点位运动控制系统,利用李雅普诺夫第二法分析了该控制系统的稳定性。采用特殊的非线性函数对时间最优控制的抖振现象进行了改进。实验结果表明,目标位置为8mm、最大速度为1m/s时的定位误差为2μm；目标位置为32mm、最大速度为1.6m/s时的定位误差为3μm；现有条件下达到的最大速度为3.1m/s。
最后对新型电磁直线执行器的一类典型应用——六自由度运动平台的控制进行了实验研究。构建了基于dSPACE的运动控制系统,利用基于运动学的控制方法对六自由度运动平台进行控制,采用预测电流控制法和改进型自抗扰控制器对各电磁直线执行器进行轨迹跟踪控制。研究结果表明,各个电磁直线执行器均能较好地跟踪各自的目标轨迹,带动上平台实现给定的运动规律,验证了所提控制方法的有效性,体现了新型电磁直线执行器在六自由度运动平台中良好的应用前景。
Electromagnetic linear actuators obtain high performance linear motions by eliminating mechanical transmission mechanisms, and they have been widely used in industrial applications such as automation and robotics in recent years. Electromagnetic linear actuators and their motion control are key technology to realize high performance linear motions. In this dissertation, a series of researches were done on motion control of a novel moving-coil electromagnetic linear actuator based on axially-magnetized magnets.
The novel electromagnetic linear actuator was made, and its structure, working principle and characteristics were analyzed. Mathematical model was built, and the system simulation model was established based on Matlab/Simulink. Control system of the electromagnetic linear actuator was constructed based on a digital-signal-processor. Simulation and experiments were carried out based on aforementioned systems.
To reduce the commutation force ripple in the novel electromagnetic linear actuator, a compensation approach based on predictive current control was proposed. Conditions of the commutation force ripple generation and working principle of the predictive current control were analyzed. Commutation force ripple reduction strategies in high and low speed operation were given respectively. Compared with the existing compensation methods used for brushless DC motors, the presented approach has the advantages of simple system configuration, high precision and easy to implement. Commutation force ripple was reduced effectively with the proposed method, which is good for the novel electromagnetic linear actuator to realize high performance linear motions.
One important motion control task of the electromagnetic linear actuator is precision trajectory tracking, and a modified active disturbance rejection controller has been developed to accomplish this task. A reference acceleration feedforward was added to the conventional active disturbance rejection controller, and its control abilities of sinusoidal trajectory tracking, different point-to-point motion trajectories tracking, parameter variations and external disturbance rejection were tested. Compared with the PID controller with reference acceleration feedforward and conventional active disturbance rejection controller, the proposed modified active disturbance rejection controller achieved precision trajectory tracking control besides the original excellent disturbance rejection performance. Consequently, this novel electromagnetic linear actuator along with the modified active disturbance rejection controller provides a new solution for high-performance linear motion applications.
The other important motion control task of the electromagnetic linear actuator is precision positioning under high speeds. An extended state observer-based time-optimal control was proposed to achieve fast and precision point-to-point motions. Extended state observer was combined with time-optimal control of the double-integrator system, and on this basis fast and precision point-to-point motion control system of the electromagnetic linear actuator was designed. Closed-loop stability of the control system was analyzed according to the Lyapunov's second method. Special nonlinear functions were used to eliminate the chattering of the time optimal control. Experimental results indicated that when the desired position was8mm and the maximum velocity was1m/s, the positioning error was2μm. When the desired position was32mm and the maximum velocity was1.6m/s, the positioning error was3μm. The maximum velocity under exsiting conditions was3.1m/s.
Finally, a typical application of the novel electromagnetic linear actuator was studied, that is the motion control of a6-DOF platform. Motion control system was constructed based on dSPACE. Trajectory tracking experiments of the6-DOF platform were carried out based on kinematic control methods, predictive current control and modified active disturbance rejection controller. Experimental results indicated that each electromagnetic linear actuator tracked its desired trajectory accurately, and the upper platform realized the given pose well. The proposed control methods are verified effective, and the novel electromagnetic linear actuator exhibits its good potential in6-DOF platform applications.
引文
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