【作者】 蓝益鹏；

【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， 2003， 硕士

【摘要】 以两台永磁直线同步电机驱动的数控龙门移动式镗铣加工中心同步控制问题为背景，对直线伺服双位置环动态精密同步进给理论和实现方法进行研究。提出双位置环直线伺服同步系统鲁棒控制方案。研究双位置驱动直线伺服系统动态同步控制，对解决多电机高精度同步进给和协调控制一类问题具有重要而普遍的意义。本文从标准H_∞控制、H_∞自校正调节器控制和鲁棒H_∞控制三个方面进行了研究。 标准H_∞控制：由于标准H_∞控制对于不确定性外部扰动信号具有良好的抑制作用，在伺服系统中得到了很好的应用。设计状态反馈控制器作为动态同步控制器，对加速度进行补偿控制，进一步，对加速度和速度同时进行补偿控制，使系统在不平衡负载或不确定性扰动下快速恢复同步，以实现位置、速度和加速度三重动态同步。 H_∞自校正调节器控制：虽然标准H_∞控制对于不确定性外部扰动信号具有良好的抑制作用，但是它不能保证对所有允许的参数不确定性同样具有鲁棒性。因此，采用了自校正调节器控制与标准H_∞控制的结合，即H_∞自校正调节器控制。对未知有界扰动、参数变化和未建模动态采用H_∞鲁棒自校正调节器控制，可根据环境与特性变化自动整定调节器参数，有效抑制扰动、参数变化和未建模动态对系统同步性能的影响。 鲁棒H_∞控制：对不确定性直线伺服系统提出鲁棒H_∞控制。首先将时变参数不确定系统的鲁棒H_∞控制问题，转化成一个等价的、不包含任何参数不确定性的线性时不变系统的标准H_∞控制问题；对标准H_∞控制问题，可通过求解代数Riccati矩阵方程的对称正定解求得控制器，也就是不确定系统的鲁棒H_∞控制器。采用鲁棒H_∞控制既能保证系统对参数不确定性的鲁棒性，又能保证对不确定性外部扰动具有良好的抑制作用。 理论分析和仿真实验都证明了方案的有效性和可行性，这也正是本文的创新之处。更多还原

【Abstract】 The background of this dissertation is the gantry synchronous control problem of numerical control gantry-moving type milling machining center drived by two linear permanent magnet synchronous motors with the same parameters. Theory of dynamic precision synchronization traverse and research of realization methods for linear servo dual position loops system is researched. This paper presents robust control method for linear servo dual position loops system. The research of this problem has an important and pervasive significance for solving multitude motors high precision feed and synchronous control. The research of the paper is based on three aspects: standard H∞. control, H∞ self-tuning regulator conirol and robust H∞ control.Standard H∞ control: Because standard H∞ control has a strong restrain for loaded disturbance, it is applied for control of servo system. This paper will design an H∞ robust controller to be used acceleration state feedback, control, or, furthermore, both speed and acceleration state feedback control, which can rapidly restore synchronous state under the condition unbalanced loads or uncertain disturbances. The result of acceleration, speed and position dynamically synchronized control is achieved.H∞ self-tuning regulator control: Although standard H∞ control has a strong restrain for uncertainly loaded disturbance, it can not guarantee a good robustness for uncertain parameters therefore H∞ self-tuning regulator control is used in this system. When unknown and bounded disturbance, parametric uncertainties and unmodelled dynamics exit at the same time, the system will automatically tune regulator parameters so as to guarantee robustness of speed synchronized control system and achieve indirectly position synchronized control.Robust H∞ control: This paper presents robust H∞ control for linear servo system with uncertainty. First, the problems of design of robust H∞ controller for time-varying parameters system with uncertainty is converted into a standard H∞ control problems of linear time-invariant parameters system with an equivalent and not included anyparameters uncertainty. Then, a controller, for standard H∞ control problems, is obtained through solving an algebraic matrix Riccati equation with symmetrically positive solution, namely, robust H∞ controller for system with uncertainty. The linear servo system with robust H∞ controller not only can guarantee a good resistance for loaded disturbance but also can satisfy robustness for uncertain parameters.Both theory analysis and results of simulation test indicate that the proposed scheme has a satisfied control effect and strong robustness, and that meets demand of speed synchronized control as well as position synchronized control for boring-milling machining centers of gantry-moving type. Moreover, these aspects are also original works.更多还原