發(fā)布時(shí)間：2018-07-02 09:11

  本文選題：直線電機(jī)位置控制 + 快速響應(yīng)��； 參考：《浙江理工大學(xué)》2017年碩士論文

【摘要】：永磁直線電機(jī)是一個(gè)具有明顯非線性特性的時(shí)變系統(tǒng)對(duì)象,直線電機(jī)擾動(dòng)和參數(shù)變化更敏感。此外,由于周期性齒槽力和力波動(dòng),使得某些有鐵芯的線性電機(jī)受到顯著的非線性效應(yīng),常用的控制結(jié)構(gòu)直接用于具有高頻響特性的直線電機(jī)時(shí),無法充分發(fā)揮直線電機(jī)的高速性能。為此本文應(yīng)用相對(duì)成熟的自適應(yīng)控制策略,針對(duì)直線電機(jī)的強(qiáng)非線性及時(shí)變特性,在系統(tǒng)辨識(shí)的基礎(chǔ)上,從模型參考自適應(yīng)控制和自校正控制兩個(gè)方向研究直線電機(jī)位置控制。以實(shí)際中三階點(diǎn)對(duì)點(diǎn)的軌跡(S型加減速)為輸入,采用局部參數(shù)最優(yōu)的MIT方案、基于全局穩(wěn)定性方案和自校正控制方案來設(shè)計(jì)控制器,經(jīng)仿真和實(shí)驗(yàn)效果對(duì)比證明在Lyapunov控制器下獲得更小的超調(diào)量和更短的調(diào)節(jié)時(shí)間,具有更好的控制性能,達(dá)到了直線電機(jī)對(duì)位置信號(hào)快速響應(yīng)的要求和較高位置精度的要求。本文搭建了永磁同步直線電機(jī)數(shù)學(xué)模型,基于辨識(shí)原理創(chuàng)作了通用的系統(tǒng)辨識(shí)軟件,根據(jù)直線電機(jī)實(shí)際位置輸入輸出,辨識(shí)出直線電機(jī)傳遞函數(shù)參數(shù)。用PID閉環(huán)來消除電流環(huán)和速度環(huán)未建模部分對(duì)模型精準(zhǔn)度的影響,通過與實(shí)際前饋迭代辨識(shí)出來的精確模型對(duì)比,獲得直線電機(jī)位置閉環(huán)傳遞函數(shù)。在保證原有特性下合理降階,并將降階的傳遞函數(shù)與原有傳遞函數(shù)位置輸出和bode圖對(duì)比,證明其合理性,獲得簡化永磁同步直線電機(jī)二階數(shù)學(xué)模型。進(jìn)一步的針對(duì)其模型,采用模型參考自適應(yīng)控制局部參數(shù)最優(yōu)MIT方法和李雅普諾夫方法設(shè)計(jì)位置閉環(huán)控制器,并詳細(xì)討論兩種方法構(gòu)造的自適應(yīng)控制律穩(wěn)定性和控制器參數(shù)選擇。解決了控制器增益和軌跡信號(hào)快速跟蹤響應(yīng)權(quán)衡問題,以及復(fù)雜控制器結(jié)構(gòu)對(duì)應(yīng)多增益參數(shù)、多初值的選擇問題,確定了二階控制器并達(dá)到較滿意效果。進(jìn)一步的詳細(xì)闡述了將在線辨識(shí)和控制器的設(shè)計(jì)結(jié)合起來的自校正控制,并進(jìn)行仿真實(shí)驗(yàn)。最后根據(jù)本文提出的基于自適應(yīng)控制的直線電機(jī)位置控制算法,利用MATLAB軟件進(jìn)行仿真實(shí)驗(yàn),以及系統(tǒng)辨識(shí)軟件離線實(shí)驗(yàn),分析局部參數(shù)最優(yōu)MIT方法和李雅普諾夫方法設(shè)計(jì)位置閉環(huán)控制器效果,證明了算法的有效性,為直線電機(jī)位置控制進(jìn)一步研究做了鋪墊。
[Abstract]:Permanent magnet linear motor (PMLM) is a time-varying system with obvious nonlinear characteristics, which is more sensitive to disturbance and parameter change. In addition, due to the periodic tooth groove force and force fluctuation, some linear motors with iron core are subjected to significant nonlinear effects. The commonly used control structures are directly used in linear motors with high frequency response characteristics. Unable to give full play to the high speed performance of linear motor. In this paper, a relatively mature adaptive control strategy is used to study the position control of linear motor from two directions: model reference adaptive control and self-tuning control, aiming at the strong nonlinear and time-varying characteristics of linear motor. Taking the third-order point-to-point trajectory (S-type acceleration and deceleration) as input, the controller is designed based on the global stability scheme and self-tuning control scheme, using the MIT scheme with the best local parameters. The results of simulation and experiment show that the control performance of the linear motor can be improved by obtaining smaller overshoot and shorter adjusting time under the Lyapunov controller, which can meet the requirement of fast response of the linear motor to the position signal and the requirement of higher position accuracy. In this paper, the mathematical model of permanent magnet synchronous linear motor (PMSLM) is built. Based on the identification principle, a general system identification software is created, and the parameters of the linear motor transfer function are identified according to the input and output of the LSM's actual position. Pid closed loop is used to eliminate the influence of current loop and velocity loop on the accuracy of the model. By comparing with the accurate model identified by feedforward iteration, the position closed loop transfer function of linear motor is obtained. The reduced order transfer function is compared with the position output of the original transfer function and bode diagram to prove its reasonableness and to obtain the simplified second-order mathematical model of permanent magnet synchronous linear motor. For its model, a position closed loop controller is designed by using the model reference adaptive control local parameter optimal MIT method and Lyapunov method. The stability of adaptive control law constructed by two methods and the selection of controller parameters are discussed in detail. The tradeoff problem of fast tracking response between controller gain and trajectory signal and the choice of complex controller structure corresponding to multiple gain parameters and multiple initial values are solved. The second order controller is determined and satisfactory results are achieved. Furthermore, the self-tuning control which combines online identification and controller design is described in detail, and the simulation experiment is carried out. Finally, according to the position control algorithm of linear motor based on adaptive control proposed in this paper, the MATLAB software is used to carry out the simulation experiment, and the off-line experiment of the system identification software. The effect of local parameter optimal MIT method and Lyapunov method on the design of position closed-loop controller is analyzed. The effectiveness of the algorithm is proved. The results provide a basis for further research on position control of linear motor.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM359.4;TP273

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本文編號(hào)：2089638