摘要
针对永磁直线同步电动机(PMLSM)伺服系统易受参数变化、外部扰动等不确定性因素影响,该文提出了一种将时滞控制(TDC)与自适应控制(AC)相结合的自适应时滞控制(ATDC)方案。首先,建立了含有不确定性因素的PMLSM伺服系统动态模型;然后,利用TDC估计系统不确定性因素的值,使系统的动态模型更精确,进而得出时滞控制率;但是,由于TDC过程中增益固定,存在较大的时滞估计误差,因此,采用AC在线调整控制增益来补偿时滞估计误差;最后,通过系统实验验证了所提出的控制方案是有效可行的,与TDC相比,基于ATDC的伺服系统具有更好的跟踪性能和鲁棒性能,明显减小了跟踪误差。
The permanent magnet linear synchronous motor(PMLSM)servo system is sensitive to the uncertainties,such as parameter variations,external disturbance and so on.This paper proposed an adaptive time delay control(ATDC)scheme by combining the time delay control(TDC)and the adaptive control(AC).Firstly,the dynamic model of the PMLSM servo system with uncertainties was established.Then,the values of the uncertainties of the system were estimated by the TDC to make the dynamic model of the system more accurate,and then the TDC rate was obtained.However,because the control gain was fixed during the process of TDC,there is a large time delay estimation error.Therefore,the AC online adjustment control gain was used to compensate the error.Finally,the experimental results show that the proposed control scheme is effective and feasible.Compared with TDC,the servo system based on ATDC has better tracking performance and robustness,and significantly reduces tracking errors.
作者
姬相超
赵希梅
Ji Xiangchao;Zhao Ximei(School of Electrical Engineering Shenyang University of Technology,Shenyang 110870 China)
出处
《电工技术学报》
EI
CSCD
北大核心
2020年第6期1231-1238,共8页
Transactions of China Electrotechnical Society
基金
辽宁省自然科学基金计划重点项目(20170540677)
辽宁省教育厅科学技术研究项目(LQGD2017025)资助。
关键词
永磁直线同步电动机
自适应时滞控制
时滞估计误差
鲁棒性
Permanent magnet linear synchronous motor
adaptive time-delay control
time-delay estimation error
robustness
