摘要
针对初级永磁型磁通切换直线(LFSPM)电机,研究其定动子双凸极结构引起的与位移相关的定位力、摩擦力及参数变化等不确定性对伺服系统的影响,提出一种基于非线性反馈的重复控制策略。首先,在分析LFSPM电机定位力的基础上,通过设计重复控制器对定位力引起的推力波动进行抑制;随后设计非线性反馈控制器,对因摩擦力及参数变化等不确定性因素引起的推力波动进行补偿,同时使逼近误差随周期数的累加而呈现减小的趋势,保证了系统的全局渐近稳定性。最后,通过A&D5435半实物系统搭建了控制模型,实验结果表明,该控制方案有效抑制了因定位力及其他不确定因素引起的推力波动。
For the primary permanent magnet linear flux-switching permanent magnet(LFSPM)machine,the position-dependent cogging force caused by double salient structure,friction andparameters uncertainties have impacts on its servo performance.A new repetitive control strategy basedon the nonlinear feedback is proposed.Firstly,a repetitive controller(RC)is designed to compensatethe thrust ripple arising from the cogging force.Then,the nonlinear feedback controller(NFC)is addedinto,to compensate the thrust fluctuation caused by friction and parameters uncertainties.Meanwhile,the convergence error gradually decreases with the increasing of periodic numbers.The globalasymptotic stability is thereby ensured.Finally,experimental evaluations of the proposed scheme arecarried out on A&D5435LFSPM drive platform.The test of the LFSPM machine control system has verified the proposed scheme.
作者
孟高军
余海涛
胡敏强
刘海涛
酒晨霄
Meng Gaojun;Yu Haitao;Hu Minqiang;Liu Haitao;Jiu Chenxiao(School of Power Electric Engineering Nanjing Institute of Technology Nanjing 210000 China;Engineering Research Center for Motion Control of MOE Southeast University Nanjing 210000 China;National Key Laboratory of Flight Vehicle Control Integrated Technology Xi’an 710000 China)
出处
《电工技术学报》
EI
CSCD
北大核心
2017年第8期169-177,共9页
Transactions of China Electrotechnical Society
基金
国家自然科学基金(51377074
51507077)
南京工程学院引进人才科研启动基金(YJK2017)
南京工程学院科研基金平台与实验专项基金(PTKJ201610)
航空科学基金(20130769005)资助项目
关键词
永磁型磁通切换直线电机
双凸极
定位力
重复控制
非线性反馈
推力波动
Linear flux-switching permanent magnet (LFSPM)
double salient
cogging force
repetitive control
nonlinear feedback
thrust fluctuation
