控制理论与应用2025，Vol.42Issue(10)：1957-1967,11.DOI:10.7641/CTA.2024.30598
基于等价输入干扰补偿的永磁直线同步电机H∞预见重复控制
H∞ preview repetitive control of PMLSM based on equivalent input disturbance compensation
摘要
Abstract
The application of permanent magnet linear synchronous motor(PMLSM)in periodic high-precision po-sition servo is susceptible to uncertainties,which is primarily caused by periodic end effects thrust ripple and parameter perturbations.Therefore,a method for H∞ preview repetitive control of PMLSM based on an equivalent input disturbance compensation is proposed.Firstly,a preview compensator and an error compensation term are introduced into the feed-forward compensation loop,which are used to minimize the tracking error caused by the ineffectiveness of the positive feedback delay link in the first control cycle of the repetitive controller.Then,an equivalent input disturbance compensator equivalent input disturbance compensator based on the sliding mode observer(SMO-RCEID)is designed based on the sliding mode observer to compensate for the end effects thrust ripple and parameter perturbations of the PMLSM.Finally,the conditions for the stability of the SMO-RCEID compensator and the H∞ preview repetitive control system described by the two-dimensional continuous/discrete hybrid model are derived by means of the Lyapunov stability theory combined with the linear matrix inequality(LMI),and the controller gain and observer gain of the system are obtained.Simulation results demonstrate that this method has excellent tracking performance and disturbance rejection capability.关键词
永磁直线同步电机/预见控制/重复控制/等价输入干扰/线性矩阵不等式/二维连续/离散混合系统Key words
permanent magnet linear synchronous motor/preview control/repetitive control/equivalent input distur-bance/linear matrix inequality/two-dimensional continuous/discrete hybrid model引用本文复制引用
孙宜标,张锐,王丽梅..基于等价输入干扰补偿的永磁直线同步电机H∞预见重复控制[J].控制理论与应用,2025,42(10):1957-1967,11.基金项目
国家自然科学基金项目(51875366)资助.Supported by the National Natural Science Foundation of China(51875366). （51875366）
