本文選題：永磁直線同步電機伺服系統(tǒng) + 自適應(yīng)控制��； 參考：《電機與控制應(yīng)用》2017年11期

【摘要】：針對永磁直線同步電機(PMLSM)伺服系統(tǒng)強魯棒性、高控制精度的要求,提出一種魯棒反步控制器。為了解決常規(guī)PID跟蹤精度不高、參數(shù)調(diào)節(jié)難度大及魯棒性差的問題,將自適應(yīng)控制與反步控制結(jié)合。利用自適應(yīng)機制實時估計系統(tǒng)的擾動,去除了反步控制設(shè)計過程中對外界擾動上界的要求,同時克服了控制律高頻抖振的問題。同時,分析了閉環(huán)反饋系統(tǒng)中高頻噪聲的特性以及對系統(tǒng)的不利影響,使用低通濾波器來抑制高頻噪聲。最后,在Googol公司的試驗平臺上,通過與一種改進的PID對比,驗證了設(shè)計的魯棒反步控制器的可行性以及抑制高頻噪聲的有效性,可為先進控制理論的工程化提供參考。
[Abstract]:A robust backstepping controller is proposed for PMLSM servo system with strong robustness and high control precision. In order to solve the problems of low tracking accuracy, difficult parameter adjustment and poor robustness of conventional PID, adaptive control and backstepping control are combined. By using adaptive mechanism to estimate the disturbance of the system in real time, the requirement of the upper bound of the external disturbance in the design of backstepping control is removed, and the problem of high frequency buffeting of the control law is overcome at the same time. At the same time, the characteristics of the high frequency noise in the closed loop feedback system and its adverse effect are analyzed. The low pass filter is used to suppress the high frequency noise. Finally, the feasibility of the designed robust backstepping controller and the effectiveness of suppressing high frequency noise are verified by comparing with an improved PID on the test platform of Googol Company, which can provide a reference for the engineering of advanced control theory.
【作者單位】： 火箭軍工程大學(xué)二系;
【基金】：國家自然科學(xué)基金項目(51475462)
【分類號】：TM341;TM921.541

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