基于扰动观测器和卡尔曼滤波器的永磁直线同步电机扰动抑制

摘要

针对负载力扰动和速度测量噪声会影响永磁直线同步电机控制精度这一问题.提出扰动观测器与卡尔曼滤波器相结合的扰动抑制方法.扰动观测器可以实时观测负载变化,并把干扰量等效成相应的电流输入给系统,降低载扰动对系统的影响.卡尔曼滤波器可以准确估计动子的位置与速度,减小了测量噪声和离散误差的影响,从而提高系统控制精度和鲁棒性能.仿真实验结果表明,卡尔曼滤波器与扰动观测器结合可以有效抑制磁阻力和摩擦力引起的推力波动.%The load disturbance and systerm measurement noise will affect the control performance of permanent magnet Linear synchronous motor (PMLSM).A method of combining Kalman-filter and disturbance observer is adopted to solve this problem.Disturbance observer can observe the changes of load force in real time,which disturbance is equivalent to the corresponding current inputs to the system.Kalman-filter can improve system control precision and robust by estimating the position and speed of the mover accurately.Simulation results show that this control strategy is effective.