【作者】 唐元钢；

【导师】 郭庆鼎；

【作者基本信息】 沈阳工业大学 ， 电力电子及电力传动， 2002， 硕士

【摘要】 本文以国家自然科学基金资助项目《直线伺服双位置环动态精密同步进给理论和实现方法研究（N_O.50075057）》为背景，基于H_∞控制理论，提出了直线伺服单位置环的高精度快进给的鲁棒H_∞控制方案，并进一步研究了H2／H∞混合控制问题，给出了一个约束γ的条件。 由于永磁直线同步电动机消除了旋转电机由旋转运动到直线运动的机械传动链的影响，且具有电磁推力强度高、损耗低、电气时间常数小、响应快等特点，使其在高精度、微进给伺服系统中成为执行机构的最佳选择之一。本项目首次提出了在诸如龙门移动式镗铣床等涉及高精度同步进给技术的现代加工设备中，采用永磁直线同步电机作为同步进给的驱动元件，以发挥其高速的动态响应能力，实现动态同步进给。 本文的创新之处在于将传统的IP速度控制器和直线电动机的二阶模型作为一个广义的被控对象，利用鲁棒H_∞控制理论设计了一个H_∞状态反馈控制器，以此解决高精度进给的控制问题，并在此基础上研究了H₂／H_∞混合控制问题，结合H_∞代数Riccati方程正定镇定解存在的频率判据，推出了一个控制器存在的γ约束条件，使以往须反复试探的γ，有了更进一步的约束范围，简化了计算。在分析双环控制问题时，针对直线永磁同步电动机，仔细考虑了能使伺服系统性能变坏的各种细微因素，如：永磁同步直线电机动子质量变化、摩擦系数变化等造成的模型参数不确定性，电机运行期间存在磁密分布变化、时间谐波等产生的推力扰动等，采用了IP速度控制器和H_∞状态反馈控制器相结合构成直线伺服的内环控制器，并辅助设计了外环的PI位置控制器。由鲁棒H_∞状态反馈控制器来解决模型摄动和参数不确定性给系统带来的扰动，以保证系统的稳定性及鲁棒性；利用IP速度控制器的快速反应能力来保证系统的快速性，共同实现系统的性能指标。 所提出的控制方案有严格的理论基础，既保证了闭环系统的稳定性和快速的跟随性能，又抑制了模型摄动及外部干扰对系统的影响，保证了系统的鲁棒性能。对鲁棒＊ 状态反馈控制器的仿真也验证了所提方案是行之有效的。更多还原

【Abstract】 A new kind of robust H∞ control tactic based on IP controller for dynamical and rapid high-precision-feed in a single axis is proposed in this paper, and the problem of H2/H∞ is also introduced, in which a constraint condition on Y is deduced. The background of the paper is "Theory of Dynamic Precision synchronization Traverse and Research of Realization Methods for Linear Servo Dual Position Loops System (NO.50075057)", which is supported by National Natural Science Foundation of China.The linear permanent magnet synchronous motor(LPMSM) has avoided the effects of the mechanical transmission chains from rotary motions to linear ones, and has strong electromagnetism thrust, lower cost, small electrical time constant and rapid response etc., which becomes one of the best executive machines in the high-precision and micro-feed servo system. In this project, using LPMSM as driving parts in modern mechanical systems involved high-precision synchronized feed technology such as gantry-moving type milling machine is first proposed so as to bring their high-speed dynamic response ability into play for realizing dynamically synchronized feed.The innovative ideas in this paper are that robust H∞control theory based on conventional IP controller is applied to the high-precision feed of a single axis, and the controlled plant is composed of IP velocity loop and two-order model of linear motor. A constraint condition on Y in the problem of H2/H∞ is deduced from the frequency criterion of Riccati equation, which makes the repeated computation on r simple. Considering the two-loops control problem, the H∞state feedback controller based on IP controller as the inner controller is applied to satisfy the velocity performance of the system, and a PI controller, the external controller, is used to satisfy the positionperformance. The controllers have considered all sorts of imperceptible factors affecting the servo performances in a LPMSM servo system, which include the parametric uncertainties brought by the changes of the mobile mass, frictional coefficient, the thrust fluctuations aroused by the varieties of the magnetic density distributions and the time harmonic. The H∞state feedback controller restrains disturbances and uncertainties to keep the robust and stable performance. The IP controller, which has the ability of rapid response, is applied to satisfy the rapid performance. Both the inner controller and external controller are used to satisfy the required tracking performance.The proposed control scheme has a rigorous theoretic base. The controllers designed not only guarantee the stability robustness and performance robustness of the system but also the tracking performance of the system. The simulation results show that the design is reasonable and effective.更多还原