基于扰动观测器和推力观测器的永磁直线同步电机推力控制研究
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摘要
针对高精度永磁直线同步电机存在参数变化、负载扰动、摩擦力和端部效应等不确定性而引起推力波动的问题,提出了一种将扰动观测器(DOB)和推力观测器(TFOB)相结合的推力控制方法。采用了DOB作为内环控制器抑制并补偿不确定性因素对系统的影响,减小了测量噪声对系统的影响;同时,设计了TFOB作为外环控制器确保DOB输入的准确性,解决了DOB无法彻底抑制PMLSM系统存在的推力波动问题;建立了环境接触模型,对引起推力波动的参数进行了离线辨识,提高了推力控制带宽。研究结果表明:与DOB控制方法相比,无论是电机平稳运行情况还是突加扰动情况,基于DOB和TFOB的推力控制方法都取得了较为优越的控制性能。
In order to solve the thrust ripple caused by uncertainties of high precision permanent magnet linear synchronous motor(PMLSM), such as parameter variations, external disturbances, friction forces and endding effects, a method combining disturbance observer(DOB) with thrust force observer(TFOB) was proposed. DOB was used as an inner loop controller to suppress and compensate the influence of uncertainties on the system,and to reduce the influence of measurement noise on the system. At the same time, TFOB was designed as an outer loop controller to solve the problem that DOB cannot suppress the thrust ripple of PMLSM system,and ensure the accuracy of DOB input. The environmental contact model was established to identify the parameters causing thrust ripple offline, thus improving the thrust control bandwidth. The experimental results show that compared with DOB control method, the thrust force control method based on DOB and TFOB achieves better control performance in both smooth operation and sudden disturbance condition.
In order to solve the thrust ripple caused by uncertainties of high precision permanent magnet linear synchronous motor(PMLSM), such as parameter variations, external disturbances, friction forces and endding effects, a method combining disturbance observer(DOB) with thrust force observer(TFOB) was proposed. DOB was used as an inner loop controller to suppress and compensate the influence of uncertainties on the system,and to reduce the influence of measurement noise on the system. At the same time, TFOB was designed as an outer loop controller to solve the problem that DOB cannot suppress the thrust ripple of PMLSM system,and ensure the accuracy of DOB input. The environmental contact model was established to identify the parameters causing thrust ripple offline, thus improving the thrust control bandwidth. The experimental results show that compared with DOB control method, the thrust force control method based on DOB and TFOB achieves better control performance in both smooth operation and sudden disturbance condition.
引文
[1] DAO Han W,YU-WU Zhu , SANG Geon. Optimal design of permanent magnet linear synchronous motor for ultra low force pulsations[J]. International Journal of Applied Electromagnetics and Mechanics,2012(39):965-971.
[2] CHO K, KIM J, CHOI S B, et al. A high-precision motion control based on a periodic adaptive disturbance observer in a PMLSM[J]. IEEE/ASME Transactions on Mechatronics, 2015,20(5):2158-2171.
[3] PANAH P G, ATAEI M, MIRZAEIAN B, et al. A robust adaptive sliding mode control for PMLSM with variable velocity profile over wide range[J]. Research Journal of Applied Sciences Engineering & Technology, 2015,10(9):997-1006.
[4] 夏加宽,董婷,王贵子.抑制永磁直线电机推力波动的电流补偿控制策略[J].沈阳工业大学学报,2006,28(4):379-383.
[5] 杨开明,叶佩青,尹文生.精密工作台直线电机推力波动补偿研究[J].组合机床与自动化加工技术,2005(8):32-33.
[6] 赵镜红,张俊洪.永磁直线同步电机扰动观测器仿真研究[J].武汉理工大学学报:交通科学与工程版,2007,31(2):224-227.
[7] 崔皆凡,闫红,单宝钰.永磁直线同步电机无模型自适应直接推力控制[J].组合机床与自动化加工技术,2013(6):47-49.
[8] MOHAM A, PARSA L. SVM-based direct thrust control of permanent magnet linear synchronous motor with reduced force ripple[J]. IEEE International Symposium on Industrial Electronics, 2011,19(6):756-760.
[9] YANG J, HE G, CUI J. Sliding Mode Variable-structure direct thrust control of PMLSM using SVM[J]. Eighth International Conference on Electrical Machine, 2016(2):1655-1658.
[2] CHO K, KIM J, CHOI S B, et al. A high-precision motion control based on a periodic adaptive disturbance observer in a PMLSM[J]. IEEE/ASME Transactions on Mechatronics, 2015,20(5):2158-2171.
[3] PANAH P G, ATAEI M, MIRZAEIAN B, et al. A robust adaptive sliding mode control for PMLSM with variable velocity profile over wide range[J]. Research Journal of Applied Sciences Engineering & Technology, 2015,10(9):997-1006.
[4] 夏加宽,董婷,王贵子.抑制永磁直线电机推力波动的电流补偿控制策略[J].沈阳工业大学学报,2006,28(4):379-383.
[5] 杨开明,叶佩青,尹文生.精密工作台直线电机推力波动补偿研究[J].组合机床与自动化加工技术,2005(8):32-33.
[6] 赵镜红,张俊洪.永磁直线同步电机扰动观测器仿真研究[J].武汉理工大学学报:交通科学与工程版,2007,31(2):224-227.
[7] 崔皆凡,闫红,单宝钰.永磁直线同步电机无模型自适应直接推力控制[J].组合机床与自动化加工技术,2013(6):47-49.
[8] MOHAM A, PARSA L. SVM-based direct thrust control of permanent magnet linear synchronous motor with reduced force ripple[J]. IEEE International Symposium on Industrial Electronics, 2011,19(6):756-760.
[9] YANG J, HE G, CUI J. Sliding Mode Variable-structure direct thrust control of PMLSM using SVM[J]. Eighth International Conference on Electrical Machine, 2016(2):1655-1658.