电机与控制应用2024，Vol.51Issue(11)：64-73,中插7,11.DOI:10.12177/emca.2024.127
基于延迟补偿的永磁直线同步电机伺服系统双闭环鲁棒重复控制
Dual-Closed-Loop Robust Repetitive Control for Permanent Magnet Linear Synchronous Motor Servo System Based on Delay Compensation
摘要
Abstract
[Objective]In order to improve the dynamic response and robustness of permanent magnet linear synchronous motor(PMLSM)servo systems,a dual-closed-loop cascade composite control method was proposed,combining robust velocity control with delay compensation and plug-in repetitive proportional differential(PD)position control.[Methods]Initially,a robust velocity controller was designed based on the reference model robust compensation principle,which effectively addressed the modeling errors between the reference model and the actual system model,using an inverse system delay model to mitigate the effects of system transmission delays.In addition,to effectively suppress periodic external disturbances,a plug-in repetitive controller was integrated with the PD position controller,forming a plug-in repetitive PD position controller.[Results]Experimental results demonstrate that this dual closed-loop cascade control structure significantly reduces position errors,addresses the degradation of system performance and overshoot caused by transmission delays,and effectively mitigates the impact of external periodic disturbances.[Conclusion]The proposed composite control method enables the PMLSM position servo system to achieve high-precision tracking of periodic signals,thereby improving the system's dynamic response and robustness.关键词
永磁直线同步电机/延迟补偿/周期性输入/重复控制/外部扰动Key words
permanent magnet linear synchronous motor/delay compensation/periodic input/repetitive control/external disturbance分类
信息技术与安全科学引用本文复制引用
徐东波,武志涛..基于延迟补偿的永磁直线同步电机伺服系统双闭环鲁棒重复控制[J].电机与控制应用,2024,51(11):64-73,中插7,11.基金项目
国家自然科学基金(51677122)National Natural Science Foundation of China(51677122) （51677122）
