T-S模型鲁棒控制及在PMLSM系统速度控制中的应用
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摘要
永磁直线同步电机（PMLSM）系统克服了传动链带来的一系列不良影响，是现代数控领域最重要的先进技术之一；然而，系统变量的非线性耦合、参数不确定、负载扰动和端部效应等诸多因素也对其控制策略提出了新的挑战。
本文采用T-S模型处理PMLSM系统中变量的非线性耦合，并利用改进型的T-S模型鲁棒镇定条件给出了PMLSM系统速度鲁棒控制算法。
针对PMLSM系统的参数不确定性，结合参数的定量分析，对PMLSM模型的不确定参数矩阵进行结构分解；针对PMLSM的非线性特性，基于分段线性化的思路，选取模糊规则、局部线性模型和隶属度函数，同时考虑负载扰动，建立PMLSM系统的不确定T-S模型，为进一步理论分析和应用研究奠定基础。
针对已有T-S模糊系统鲁棒镇定条件保守性较强的不足，提出了参数不确定T-S模糊系统的改进型鲁棒镇定条件。由于这个条件引入了更多的自由变量，扩大了解集合，减小了鲁棒镇定条件的保守性，为应用研究提供了必要的理论依据。在改进型鲁棒镇定条件基础上进一步提出了保成本控制器存在条件和H_∞鲁棒控制器存在条件。
为使PMLSM系统对一定范围内参数变化能够获得最优的性能，提出了参数不确定T-S模糊系统的保成本控制律设计算法；将该算法应用于PMLSM系统的速度控制。通过调整权重系数矩阵实现较好的速度性能，对不同调速目标、负载和权重系数等多种情况进行仿真对比研究。
以PMLSM系统的未知能量有界负载扰动为背景，提出了参数不确定T-S模糊系统的H_∞鲁棒控制律设计算法；将该算法应用于PMLSM系统速度控制中的负载扰动抑制问题。通过调整受控输出矩阵的参数来优化速度和电流分量的性能，对不同调速目标、负载和参数选取进行仿真对比研究。
论文最后以TMS320 LF2812为核心进行PMLSM系统的实验研究，验证所提出控制策略及仿真结果的有效性。
Permanent magnet linear synchronous motor (PMLSM) system overcomes a series ofunfavorable effects caused by driving chains and become one of the most importantadvanced techniques of modern numerical control tools. On the other hand, many factorschallenge the control strategies of PMLSM, such as the nonlinear coupling of systemvariables, uncertainties of system parameters, load perturbation and end-effect, etc.
T-S fuzzy model is adopted in this dissertation to deal with the nonlinear coupling ofthe variables in PMLSM system. Robust speed control algorithms of PMLSM system areobtained based on the improved robust stabilization condition of T-S fuzzy model.
Aiming at the parametic uncertainties of PMLSM system, structural decomposition ofuncertain parameter matrices of PMLSM model is obtained based on the parameters’quantitative analysis. Based on piece-wise linear method, uncertain T-S fuzzy model ofPMLSM system is founded by selecting fuzzy rules, local linear models and membershipgrade function. Load perturbation is considered simultaneously. So a foundation isobtained for further theoretical analysis and applied research.
Aiming at the robust stabilization conditions published in the literature is moreconservative, the improved robust stabilization condition of T-S fuzzy model withparametric uncertainties is proposed. This condition enlarges the solution set because ofincluding more free variables, and is shown to be less conservative than existed results.The guaranteed cost controller exist condition and H_∞robust controller exist condition areobtained based on the improved robust stabilization condition.
In order to make the PMLSM system have optimal performances for variation ofsome parameters, algorithm of guaranteed cost control law for T-S fuzzy model withparametric uncertainties is proposed. This algorithm is applied to the velocity control ofPMLSM system. The better system’s speed performance is gained by modifying theweight coefficient matrices. Simulation comparison research is given aiming at differentvelocity objectives, load and weight coefficients.
Based on the background of unknown load perturbation in some energy bound inPMLSM system, the H_∞robust control law algorithm for T-S fuzzy model with parametricuncertainties is obtained. This algorithm is applied into the perturbation restraint of thevelocity control. The velocity performance and current components are both optimized bymodifying the controlled output matrix. Simulation comparison research is given aiming atdifferent velocity objectives, load and parameters.
Experimental research of PMLSM system is conducted based on TMS320 LF2812,which illustrates the validity of the theoretical research and the simulation results of theproposed control strategies.
本文采用T-S模型处理PMLSM系统中变量的非线性耦合，并利用改进型的T-S模型鲁棒镇定条件给出了PMLSM系统速度鲁棒控制算法。
针对PMLSM系统的参数不确定性，结合参数的定量分析，对PMLSM模型的不确定参数矩阵进行结构分解；针对PMLSM的非线性特性，基于分段线性化的思路，选取模糊规则、局部线性模型和隶属度函数，同时考虑负载扰动，建立PMLSM系统的不确定T-S模型，为进一步理论分析和应用研究奠定基础。
针对已有T-S模糊系统鲁棒镇定条件保守性较强的不足，提出了参数不确定T-S模糊系统的改进型鲁棒镇定条件。由于这个条件引入了更多的自由变量，扩大了解集合，减小了鲁棒镇定条件的保守性，为应用研究提供了必要的理论依据。在改进型鲁棒镇定条件基础上进一步提出了保成本控制器存在条件和H_∞鲁棒控制器存在条件。
为使PMLSM系统对一定范围内参数变化能够获得最优的性能，提出了参数不确定T-S模糊系统的保成本控制律设计算法；将该算法应用于PMLSM系统的速度控制。通过调整权重系数矩阵实现较好的速度性能，对不同调速目标、负载和权重系数等多种情况进行仿真对比研究。
以PMLSM系统的未知能量有界负载扰动为背景，提出了参数不确定T-S模糊系统的H_∞鲁棒控制律设计算法；将该算法应用于PMLSM系统速度控制中的负载扰动抑制问题。通过调整受控输出矩阵的参数来优化速度和电流分量的性能，对不同调速目标、负载和参数选取进行仿真对比研究。
论文最后以TMS320 LF2812为核心进行PMLSM系统的实验研究，验证所提出控制策略及仿真结果的有效性。
Permanent magnet linear synchronous motor (PMLSM) system overcomes a series ofunfavorable effects caused by driving chains and become one of the most importantadvanced techniques of modern numerical control tools. On the other hand, many factorschallenge the control strategies of PMLSM, such as the nonlinear coupling of systemvariables, uncertainties of system parameters, load perturbation and end-effect, etc.
T-S fuzzy model is adopted in this dissertation to deal with the nonlinear coupling ofthe variables in PMLSM system. Robust speed control algorithms of PMLSM system areobtained based on the improved robust stabilization condition of T-S fuzzy model.
Aiming at the parametic uncertainties of PMLSM system, structural decomposition ofuncertain parameter matrices of PMLSM model is obtained based on the parameters’quantitative analysis. Based on piece-wise linear method, uncertain T-S fuzzy model ofPMLSM system is founded by selecting fuzzy rules, local linear models and membershipgrade function. Load perturbation is considered simultaneously. So a foundation isobtained for further theoretical analysis and applied research.
Aiming at the robust stabilization conditions published in the literature is moreconservative, the improved robust stabilization condition of T-S fuzzy model withparametric uncertainties is proposed. This condition enlarges the solution set because ofincluding more free variables, and is shown to be less conservative than existed results.The guaranteed cost controller exist condition and H_∞robust controller exist condition areobtained based on the improved robust stabilization condition.
In order to make the PMLSM system have optimal performances for variation ofsome parameters, algorithm of guaranteed cost control law for T-S fuzzy model withparametric uncertainties is proposed. This algorithm is applied to the velocity control ofPMLSM system. The better system’s speed performance is gained by modifying theweight coefficient matrices. Simulation comparison research is given aiming at differentvelocity objectives, load and weight coefficients.
Based on the background of unknown load perturbation in some energy bound inPMLSM system, the H_∞robust control law algorithm for T-S fuzzy model with parametricuncertainties is obtained. This algorithm is applied into the perturbation restraint of thevelocity control. The velocity performance and current components are both optimized bymodifying the controlled output matrix. Simulation comparison research is given aiming atdifferent velocity objectives, load and parameters.
Experimental research of PMLSM system is conducted based on TMS320 LF2812,which illustrates the validity of the theoretical research and the simulation results of theproposed control strategies.
引文
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