永磁直线同步电机自适应变结构位置控制
摘要
直线电机伺服系统与传统的“旋转电机+滚珠丝杠”进给方式相比,虽然消除了机械传动所带来的一些不良影响,实现了将电能直接转化为机械能,但却大大的增加了电气控制上的难度。尤其是在精度要求相对较高的微进给场合,就必须站在更高的高度上,考虑更多的扰动等不确定因素对系统的影响,否则这种零传动将失去人们期望的意义。
本文首先介绍了永磁直线电机及其相关控制技术的基本原理、发展过程和研究现状。接着介绍了当前几种先进的控制策略在永磁直线同步电机上的应用,并就各种控制策略优缺点行了分析和比较。在分析了永磁直线同步电机矢量变换控制的规律的基础上,建立了永磁直线同步电机的数学模型。并利用MATLAB/SIMULINK仿真软件实现永磁直线同步电机(PMLSM)位置信号的控制,对基于空间矢量脉宽调制(SVPWM)的永磁直线同步电机的矢量控制系统进行了仿真分析。仿真结果表明,此方法具有动态响应速度较快,实现起来简单方便等特点,但是推力和电流脉动较大,并且在负载推力突变时,系统的鲁棒性能不佳。
针对矢量控制存在的问题,引入现代控制策略—变结构控制,利用自适应控制律对系统不确定性扰动因素的界限进行估算,设计了一种新型的自适应变结构位置控制器。利用MATLAB/SIMULINK仿真软件实现对加入自适应变结构位置控制的永磁直线同步电机(PMLSM)位置信号的控制。仿真结果表明,该控制方法具有良好的动态响应和位置跟踪性能,电流和推力脉动显著减小,在负载突变时,位置误差减小了一个数量级,速度波动降低了23%。在此基础上改变电机参数,系统性能未改变,仍表现出较好的鲁棒性。
Compared with conventional rotary motor and scroll lever, servo system for linear motor realized the transformation of electrical energy into mechanical energy and added the difficulties in the aspect of electrical control, even through it removed the bad effects which are caused by mechanical gearings. Especially in the situation of higher precision and tinier process, it should be stand in a higher level and take deeper consideration about some disturbs or some uncertain factors. Otherwise, zero mechanical gearing makes nonsense.
Firstly, this thesis introduces the basic principle, development process and research situation of permanent magnet linear synchronous motor (PMLSM) and related control strategy. Secondly, on the basis of analyzed rule of vector transform control of PMLSM, the mathematics model of PMLSM is established. The control of position signal of PMLSM is realized by simulation software MATLAB/SIMULINK, and the simulation and analysis of vector control system of PMLSM are carried out based on space vector pulse width modulation (SVPWM). Seen from the simulation results, this method has the characteristics of quick response speed and easy to realize etc. But its has the disadvantages of big ripples of thrust and current,and less robustness when external load disturbances exist.
Modern variable structure control is induced in order to solve the problems of vector control. Evaluated the limit of uncertainly disturbance factor of the system using self-adaptive control rule, a self- adaptive variable structure position controller of new structure is designed, which realized the control of position control of self-adaptive variable structure of PMLSM by simulation software MATLAB/SIMULINK. The simulation results demonstrate that this control method has the merit of good dynamic response and position track performance, its ripples of current and thrust are outstandingly reduced. When the load suddenly changed, the position error reduced a number level, and the speed ripple decreased 23 percentages. Changing the parameters of motor on these bases, the performances of system keeps unchanged and has better robust.
本文首先介绍了永磁直线电机及其相关控制技术的基本原理、发展过程和研究现状。接着介绍了当前几种先进的控制策略在永磁直线同步电机上的应用,并就各种控制策略优缺点行了分析和比较。在分析了永磁直线同步电机矢量变换控制的规律的基础上,建立了永磁直线同步电机的数学模型。并利用MATLAB/SIMULINK仿真软件实现永磁直线同步电机(PMLSM)位置信号的控制,对基于空间矢量脉宽调制(SVPWM)的永磁直线同步电机的矢量控制系统进行了仿真分析。仿真结果表明,此方法具有动态响应速度较快,实现起来简单方便等特点,但是推力和电流脉动较大,并且在负载推力突变时,系统的鲁棒性能不佳。
针对矢量控制存在的问题,引入现代控制策略—变结构控制,利用自适应控制律对系统不确定性扰动因素的界限进行估算,设计了一种新型的自适应变结构位置控制器。利用MATLAB/SIMULINK仿真软件实现对加入自适应变结构位置控制的永磁直线同步电机(PMLSM)位置信号的控制。仿真结果表明,该控制方法具有良好的动态响应和位置跟踪性能,电流和推力脉动显著减小,在负载突变时,位置误差减小了一个数量级,速度波动降低了23%。在此基础上改变电机参数,系统性能未改变,仍表现出较好的鲁棒性。
Compared with conventional rotary motor and scroll lever, servo system for linear motor realized the transformation of electrical energy into mechanical energy and added the difficulties in the aspect of electrical control, even through it removed the bad effects which are caused by mechanical gearings. Especially in the situation of higher precision and tinier process, it should be stand in a higher level and take deeper consideration about some disturbs or some uncertain factors. Otherwise, zero mechanical gearing makes nonsense.
Firstly, this thesis introduces the basic principle, development process and research situation of permanent magnet linear synchronous motor (PMLSM) and related control strategy. Secondly, on the basis of analyzed rule of vector transform control of PMLSM, the mathematics model of PMLSM is established. The control of position signal of PMLSM is realized by simulation software MATLAB/SIMULINK, and the simulation and analysis of vector control system of PMLSM are carried out based on space vector pulse width modulation (SVPWM). Seen from the simulation results, this method has the characteristics of quick response speed and easy to realize etc. But its has the disadvantages of big ripples of thrust and current,and less robustness when external load disturbances exist.
Modern variable structure control is induced in order to solve the problems of vector control. Evaluated the limit of uncertainly disturbance factor of the system using self-adaptive control rule, a self- adaptive variable structure position controller of new structure is designed, which realized the control of position control of self-adaptive variable structure of PMLSM by simulation software MATLAB/SIMULINK. The simulation results demonstrate that this control method has the merit of good dynamic response and position track performance, its ripples of current and thrust are outstandingly reduced. When the load suddenly changed, the position error reduced a number level, and the speed ripple decreased 23 percentages. Changing the parameters of motor on these bases, the performances of system keeps unchanged and has better robust.
引文
[1]郭庆鼎,王成元,周美文等.直线交流伺服系统的精密控制技术.北京:机械工业出版社,2000.
[2] J. F. Gieras, Z. J. Piech. Linear synchronous motors:transportation and automation system,CRC Press, 2000.
[3]叶云岳.直线电机原理与应用.北京:机械工业出版社,2002.
[4]郭庆鼎,赵希梅.直线电动机在机床伺服驱动应用中的若干问题与展望.电气传动,2006,25(4):130-133.
[5]张伯霖,夏红梅,黄晓明.数控机床高速化的研究与应用.中国机械工程,2001,12(10):1132-1137.
[6]舒怀林.PID神经元网络及其控制系统.北京:国防工业出版社.2006.
[7]吴捷,陈渊睿,Norbert C.Cheung.永磁直线电机的模型参考自适应控制.华南理工大学学报(自然科学版),2003,31(6):31-35.
[8]殷雄.人工智能在直接转矩控制中的应用研究:(硕士学位论文).浙江:浙江工业大学,2001.
[9]钟扬,叶云岳,赵光宙.直线感应电动机的新型PID控制研究综述.微特电动机,2002,(2):27-30.
[10]刘金陵,王先逵,吴丹等.直线电动机伺服系统的模糊推理自校正PID控制.清华大学学报,1998,38(2):44-46.
[11] C. L. Lin and H. Y. Jan Multiobjective PID control for a linear brushless DC motor: an evolutionary approach. IEE Proc. Electr. Power Appl. 2002, 149(6)397-406.
[12]樊锋,刘强.交流直线电动机矢量变换控制软件换向方法及实现.北京航空航天大学学报,2004,30(4):353-357.
[13] B. G. Gu and Nam. A vector control scheme for a PM linear synchronous motor in extended -gion. IEEE Trans. on Industry Applications, 2003, 39(5)1280-1286.
[14]王钦若,杜玉晓.交流电动机直接转矩控制研究综述.机电工程技术, 2005,34(11):13-16.
[15]邹积浩,朱善安.基于最大推力电流法的凸极式永磁直线同步电动机无速度传感器推力直接控制.电工技术学报, 2004,19(12):69-73.
[16]邹积浩,朱善安.基于电压预测的永磁直线同步电动机直接推理控制.仪器仪表学报,26(12):1263-1266.
[17] T. H. Liu, Y. C. Lee, Y. H. Chang. Adaptive controller design for a linear motor control system. IEEE Trans on Aerospace and Electronic Systems, 2004, 40(2):601-616.
[18]徐月同,傅建中,陈子辰.永磁直线同步电动机进给系统H∞控制策略的研究.浙江大学学报(工学版),2005,39(6):789-794.
[19]董清.同步发电机调速系统附加H∞控制的研究:(博士学位论文).北京:华北电力大学,2002.
[20]高为炳.变结构控制理论基础.北京:中国科学出版社,1990.
[21]傅春,谢剑英.模糊滑模控制研究综述.信息与控制,2001,30(5):434-439.
[22]张宏伟,康润生,王新环等.基于神经网络的永磁直线同步电动机推力波动补偿的仿真研究.电动机与控制学报,2004,(4):299-302.
[23]刘金坤.滑模变结构控制MATLAB仿真.北京:清华大学出版社,2005.
[24]童克文,张兴.滑模变结构控制及应用.电气应用.2007,26(3):6-10.
[25] A. Davari and Z. Zhang. Application of the three segments variable structure systems. Proc. American Control Conference, 1991:62-63.
[26] Y. S. Lu and J. S. Chen. Design of a global sliding mode controller for a motor drive with bounded control. Int.. Journal of Control, 1995, 62(5):1001-1019.
[27] J. J. Lee and Y. S. Xu. A new method of switching surface design for multivariable variable structure systems. IEEE Trans. on Automatic Control, 1994, 39(2):414~419.
[28] K D. Young and U. Ozguner. Frequency-shaping compensator design for sliding mode. Int. J. Contr. 1993, 57(5):1005-1019.
[29]冯勇,安澄全,李涛.采用双滑模平面减小一类非线性系统稳态误差.控制与决策,2000,15(3):361-364.
[30] K. B. Park, J. J. Lee. Variable structure controller for robotic manipulators using time-varying sliding surface. Proc. of IEEE Conference on Robotics and Automation, 1993, 1:89-93.
[31] S. B. Choi, D. A. Park. Moving sliding surfaces for fast tracking control of second order dynamical systems. ASME Journal of Dynamic Systems, Measurement and Control Theory Appl. 1996, 143(5):455-462.
[32] A. P. Dong, B. C. Seung. Moving sliding surface for high-order variable structure systems. Int. J. Contr. 1999, 72(11):960-970.
[33] F. Betin, D. pinchon, and G. A. Capolino. A Time-varying sliding surface for robust position control of a DC motor drive. IEEE Trans. on Industrial Electronics, 2002,49(2):462-473.
[34] Yu-Feng Li and Jan Wikander. Model reference discrete-time sliding mode control of linear motor precision servo systems. Mechatronics, 2004, 14(7):835-851.
[35] F. J. Lin, C. H. L. and P. H. Shen. Variable-structure control for a linear synchronous motor using a recurrent fuzzy neural network. IEE Proc. Control Theory Appl. 2004, 151(4):395-406.
[36] F. J. Lin, K. K. Shyu and C. H. Lin incremental motion control of linear synchronous motor. IEEE Trans. on Aerospace and Electronics Systems, 2002, 38(3):1011-1022.
[37] Y. K. Tan and S. K. Panda. Sliding-mode position controller for linear permanent magnet brushless DC servo motor. The Fifth International Conference on Power Electronics and Drive Systems, Singapore, 2003. 1653-1658.
[38] Y. K. Tan and S. K. Panda. Iterative learning based sliding-mode position controller for linear permanent magnet brushless DC servo motor. The 30th Annual Conference of the IEEE Industrial Electronics Society, Busan, Korea, 2004. 2864-2869.
[39] P. H. Shen and F. J. Lin. Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system. IEE Proc. Electr. Power Appl. 2005, 152(5):1321-1342.
[40] M. J.Kharaajoo and R. Fazaie. Discrete-time sliding mode control of permanent magnet linear s synchronous motor in high-performance motion with large parameter uncertainty. SICE Annual Conference in Fukui , Japan, 2003. 3127-3130.
[41] C. L. Hwang, F. Y. Sung and M. H. Wei. Improved fuzzy sliding-mode control for a linear servo motor system. Control Eng. Practice, 1997,5(2):219-227.
[42] P. Van den Braembussche, J. Swevers and H.Van Brussel. Design and experimental validation of robust controllers for machine tool drives with linear motor. Mechatronics. 2001, (11):545-562.
[43]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,2003.
[44]程善美,姜向龙,孙文焕等.SIMULINK环境下空间矢量PWM仿真.电气自动化,2002(3):39-41.
[45]熊健,张凯.空间矢量脉宽调制的调制波分析.电气自动化,2002(3):24-28.
[46]李夙.异步电动机直接转矩控制.北京:机械工业出版社,1994.
[47]王晓明,王玲.电动机的DSP控制—TI公司DSP应用.北京:北京航空航天大学出版社,2004.
[48]胡跃明.变结构控制理论与应用.北京:科学出版社,2003.
[49]邹积浩.永磁直线同步电机控制策略的研究:(博士学位论文).杭州:浙江大学,2005.
[50]高为炳.变结构控制的理论及设计方法.北京:科学出版社,1998.
[51]王丰尧.滑模变结构控制.北京:机械工业出版社,1998. [52 ] Yu H,Seneviratne L D,Earles S W E. Exponentially Stable Robust Control Law for Robot Mani- pulators . IEE Transactions on,Control Theory Application,1994,141:389-395.
[53] Yu H,Lloyd S. Variable Structure Adaptive Control of Robot Manipulators. IEE Transactions on,Control Theory Application,1997,144:167-176.
[54] Wai R J. Hybird Control for Speed Sensorless Induction Motor Dirve. IEEE Transactions on,Fuzzy System,2001,9(1):116-138.
[2] J. F. Gieras, Z. J. Piech. Linear synchronous motors:transportation and automation system,CRC Press, 2000.
[3]叶云岳.直线电机原理与应用.北京:机械工业出版社,2002.
[4]郭庆鼎,赵希梅.直线电动机在机床伺服驱动应用中的若干问题与展望.电气传动,2006,25(4):130-133.
[5]张伯霖,夏红梅,黄晓明.数控机床高速化的研究与应用.中国机械工程,2001,12(10):1132-1137.
[6]舒怀林.PID神经元网络及其控制系统.北京:国防工业出版社.2006.
[7]吴捷,陈渊睿,Norbert C.Cheung.永磁直线电机的模型参考自适应控制.华南理工大学学报(自然科学版),2003,31(6):31-35.
[8]殷雄.人工智能在直接转矩控制中的应用研究:(硕士学位论文).浙江:浙江工业大学,2001.
[9]钟扬,叶云岳,赵光宙.直线感应电动机的新型PID控制研究综述.微特电动机,2002,(2):27-30.
[10]刘金陵,王先逵,吴丹等.直线电动机伺服系统的模糊推理自校正PID控制.清华大学学报,1998,38(2):44-46.
[11] C. L. Lin and H. Y. Jan Multiobjective PID control for a linear brushless DC motor: an evolutionary approach. IEE Proc. Electr. Power Appl. 2002, 149(6)397-406.
[12]樊锋,刘强.交流直线电动机矢量变换控制软件换向方法及实现.北京航空航天大学学报,2004,30(4):353-357.
[13] B. G. Gu and Nam. A vector control scheme for a PM linear synchronous motor in extended -gion. IEEE Trans. on Industry Applications, 2003, 39(5)1280-1286.
[14]王钦若,杜玉晓.交流电动机直接转矩控制研究综述.机电工程技术, 2005,34(11):13-16.
[15]邹积浩,朱善安.基于最大推力电流法的凸极式永磁直线同步电动机无速度传感器推力直接控制.电工技术学报, 2004,19(12):69-73.
[16]邹积浩,朱善安.基于电压预测的永磁直线同步电动机直接推理控制.仪器仪表学报,26(12):1263-1266.
[17] T. H. Liu, Y. C. Lee, Y. H. Chang. Adaptive controller design for a linear motor control system. IEEE Trans on Aerospace and Electronic Systems, 2004, 40(2):601-616.
[18]徐月同,傅建中,陈子辰.永磁直线同步电动机进给系统H∞控制策略的研究.浙江大学学报(工学版),2005,39(6):789-794.
[19]董清.同步发电机调速系统附加H∞控制的研究:(博士学位论文).北京:华北电力大学,2002.
[20]高为炳.变结构控制理论基础.北京:中国科学出版社,1990.
[21]傅春,谢剑英.模糊滑模控制研究综述.信息与控制,2001,30(5):434-439.
[22]张宏伟,康润生,王新环等.基于神经网络的永磁直线同步电动机推力波动补偿的仿真研究.电动机与控制学报,2004,(4):299-302.
[23]刘金坤.滑模变结构控制MATLAB仿真.北京:清华大学出版社,2005.
[24]童克文,张兴.滑模变结构控制及应用.电气应用.2007,26(3):6-10.
[25] A. Davari and Z. Zhang. Application of the three segments variable structure systems. Proc. American Control Conference, 1991:62-63.
[26] Y. S. Lu and J. S. Chen. Design of a global sliding mode controller for a motor drive with bounded control. Int.. Journal of Control, 1995, 62(5):1001-1019.
[27] J. J. Lee and Y. S. Xu. A new method of switching surface design for multivariable variable structure systems. IEEE Trans. on Automatic Control, 1994, 39(2):414~419.
[28] K D. Young and U. Ozguner. Frequency-shaping compensator design for sliding mode. Int. J. Contr. 1993, 57(5):1005-1019.
[29]冯勇,安澄全,李涛.采用双滑模平面减小一类非线性系统稳态误差.控制与决策,2000,15(3):361-364.
[30] K. B. Park, J. J. Lee. Variable structure controller for robotic manipulators using time-varying sliding surface. Proc. of IEEE Conference on Robotics and Automation, 1993, 1:89-93.
[31] S. B. Choi, D. A. Park. Moving sliding surfaces for fast tracking control of second order dynamical systems. ASME Journal of Dynamic Systems, Measurement and Control Theory Appl. 1996, 143(5):455-462.
[32] A. P. Dong, B. C. Seung. Moving sliding surface for high-order variable structure systems. Int. J. Contr. 1999, 72(11):960-970.
[33] F. Betin, D. pinchon, and G. A. Capolino. A Time-varying sliding surface for robust position control of a DC motor drive. IEEE Trans. on Industrial Electronics, 2002,49(2):462-473.
[34] Yu-Feng Li and Jan Wikander. Model reference discrete-time sliding mode control of linear motor precision servo systems. Mechatronics, 2004, 14(7):835-851.
[35] F. J. Lin, C. H. L. and P. H. Shen. Variable-structure control for a linear synchronous motor using a recurrent fuzzy neural network. IEE Proc. Control Theory Appl. 2004, 151(4):395-406.
[36] F. J. Lin, K. K. Shyu and C. H. Lin incremental motion control of linear synchronous motor. IEEE Trans. on Aerospace and Electronics Systems, 2002, 38(3):1011-1022.
[37] Y. K. Tan and S. K. Panda. Sliding-mode position controller for linear permanent magnet brushless DC servo motor. The Fifth International Conference on Power Electronics and Drive Systems, Singapore, 2003. 1653-1658.
[38] Y. K. Tan and S. K. Panda. Iterative learning based sliding-mode position controller for linear permanent magnet brushless DC servo motor. The 30th Annual Conference of the IEEE Industrial Electronics Society, Busan, Korea, 2004. 2864-2869.
[39] P. H. Shen and F. J. Lin. Intelligent backstepping sliding-mode control using RBFN for two-axis motion control system. IEE Proc. Electr. Power Appl. 2005, 152(5):1321-1342.
[40] M. J.Kharaajoo and R. Fazaie. Discrete-time sliding mode control of permanent magnet linear s synchronous motor in high-performance motion with large parameter uncertainty. SICE Annual Conference in Fukui , Japan, 2003. 3127-3130.
[41] C. L. Hwang, F. Y. Sung and M. H. Wei. Improved fuzzy sliding-mode control for a linear servo motor system. Control Eng. Practice, 1997,5(2):219-227.
[42] P. Van den Braembussche, J. Swevers and H.Van Brussel. Design and experimental validation of robust controllers for machine tool drives with linear motor. Mechatronics. 2001, (11):545-562.
[43]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,2003.
[44]程善美,姜向龙,孙文焕等.SIMULINK环境下空间矢量PWM仿真.电气自动化,2002(3):39-41.
[45]熊健,张凯.空间矢量脉宽调制的调制波分析.电气自动化,2002(3):24-28.
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