直流直线电机保证精度的自适应全维状态观测器极点配置

摘要

Because the DC linear motor has a large speed tracking error and steady-state error in the acceleration dynamic process and steady state,an adaptive full state observer pole placement method is proposed to ensure dynamic tracking accuracy and steady-state accuracy.The main idea was to install a linear speed measuring device and a position sensor in the DC linear motor system to obtain the speed state and displacement state of the motor,combining the motor output to construct the full state observer,configuring the desired pole zero point of the cotrol system,and adding the gain matrix in the whole system to compensate the steady-state error.Finally,the full state observer,feed back control law,and gain matrix were continuously adjusted according to the operating condition of the motor,and the system dynamic tracking error and steady-state error were reduced.The designed algorithm is applied to the laser guided positioning device of the two section type fan blade assembly system.Matlab simulation and practical application results show that the control algorithm can better track the motor speed,improve system dynamic tracking accuracy and steady precision,and the closedloop system is more robust.%直流直线电机在加速动态过程以及稳态时,有较大的速度跟踪误差和稳态误差.提出一种保证动态跟踪精度和稳态精度的自适应全维状态观测器极点配置方法,以提高直流直线电机在运动过程中的加速动态跟踪精度及稳态精度.其主要思想是在直流直线电机系统中安装直线测速装置及位置传感器,用来获取电机的速度状态和位移状态,结合电机输出构造全维状态观测器,配置控制系统期望的零极点,同时,在整个系统之前加入增益矩阵,对其稳态误差进行补偿,最后通过自适应调节器根据电机运行状态不断调节全维状态观测器、反馈控制律及增益矩阵,用以减小系统动态跟踪误差和稳态误差.将设计出的算法用于二段式风机叶片拼装系统激光引导定位装置中,Matlab仿真及实际应用结果表明:该控制算法能够更好地跟踪电机的速度,提高了系统的动态跟踪精度和稳态精度,闭环系统鲁棒性更强.