【摘要】 在直线电机进给系统中,运动质量的波动是最主要的模型参数波动。基于将干扰观测器和零相位跟踪控制器与PID相结合的控制器结构,分析了质量波动对位置闭环带宽的影响,通过分析可知质量增大会降低位置带宽,破坏位置闭环的零相位误差特性,降低位置跟踪性能。为了补偿质量波动的影响,提出一种基于质量估计和模型补偿的控制器结构。质量估计采用模型参考自适应方法,能够准确及时地估计出质量,稳定后误差不超过3.5%。模型补偿包括质量波动补偿和电流前馈,可使实际模型与设定模型保持一致,补偿了质量波动对位置闭环带宽的影响,保持了控制器的跟踪性能。实验结果验证了该方法的有效性。更多还原

【Abstract】 Parameter variation,especially mass variation,occurs frequently in permanent magnet linear synchronous motor feed systems.The effect of mass variation on position loop bandwidth is conducted based on the controller structure composed of disturbance observer and zero phase error tracking controller and proportional-integral-derivative(PID) controllers.A large mass would decrease the position loop bandwidth and ruin the zero phase error characteristics,which deteriorates the tracking performance.A compensator,including mass identification and model compensation,is introduced to compensate the mass variation effect.A model reference adaptive method is utilized in mass identification,which has steady state errors less than 3.5%.The system can retain tracking performance with model compensation by making the actual model close to the fixed nominal model.Experimental results are given to confirm the validity of the proposed controller.更多还原