永磁直线伺服系统最优参数负载扰动补偿方法

摘要

For the direct drive permanent magnet linear synchronous motor（PMLSM） servo system,the load disturbance and the parameters changes will influence the performance of the servo system seriously.A disturbance compensation method of position controller combined with optimal parameter disturbance compensating controller was proposed.It ensured that the system had fast transient response and good load disturbance rejection capability.The position controller determined the transient response performance and the load compensator improved the ability of disturbance suppression.And by using the Parseval theorem,its parameters were obtained from an optimization technique that transformed the position deviation of the performance index from time domain into the frequency domain,and then the Routh-Hurwitz two-dimensional array was calculated to obtain the optimal proportional-integral parameters.The simulation and experimental results show that the proposed compensation method enhances control precision and robustness of the system.%对于直接驱动永磁直线伺服系统,负载扰动和系统参数的变化严重影响系统伺服性能。本文提出了一种位置控制器与负载扰动补偿器相结合的扰动抑制方法,该方法同时兼顾了直线伺服系统快速的瞬时响应和良好的抗干扰能力。其中位置控制器决定系统的瞬时响应特牲,而负载扰动补偿器则用来改善系统的抗干扰能力。在负载扰动补偿器的参数确定中提出利用Parseval定理中信号在时间域内的总能量与频域内的总能量相等的原理,将位置偏差量的时域性能指标转为频域性能指标,再通过对劳斯-赫尔维茨（Routh-Hurwitz）二维数组的计算,确定最优化PI参数。仿真结果与实验表明,该补偿方法使直线电机伺服系统具有良好的控制精度与鲁棒性。