直接驱动H型平台鲁棒最优同步控制仿真研究

doi:10.16182/j.issn1004731x.joss.20-0831

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (3): 527-535.doi: 10.16182/j.issn1004731x.joss.20-0831

直接驱动H型平台鲁棒最优同步控制仿真研究

王丽梅(), 么红岩, 张康

沈阳工业大学电气工程学院，辽宁沈阳 110870

收稿日期:2020-10-29 修回日期:2020-12-18 出版日期:2022-03-18 发布日期:2022-03-22
作者简介:王丽梅(1969-)，女，博士，教授，博导，研究方向为伺服驱动技术。E⁃mail：wanglm@sut.edu.cn
基金资助:
国家自然科学基金(51875366)

Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform

Limei Wang(), Hongyan Yao, Kang Zhang

School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China

Received:2020-10-29 Revised:2020-12-18 Online:2022-03-18 Published:2022-03-22

摘要/Abstract

摘要：

针对永磁直线同步电机直接驱动的H型运动平台存在双轴耦合、参数摄动及外部扰动等不确定因素，影响系统的同步控制精度和鲁棒性的问题，提出了一种基于H型运动平台耦合动力学模型的鲁棒最优同步控制方法。基于Euler-Lagrange方程，建立双轴耦合动力学模型；设计交叉耦合同步控制器，有效地将单轴跟踪误差与双轴同步误差及其变化率结合起来；设计 $H ∞$ 鲁棒最优同步控制器来克服参数摄动及外部扰动等不确定因素的影响，增强系统的鲁棒性。通过仿真实验证明了该方法的有效性。

关键词: 直驱H型平台, 永磁直线同步电动机, 交叉耦合控制, 混合误差, 鲁棒最优控制

Abstract:

A robust optimal synchronization control method based on coupling dynamics model of the H-type motion platform is proposed for the problem that the H-type motion platform driven directly by permanent magnet linear synchronous motor has uncertainties such as biaxial coupling, parameter perturbation and external disturbances, which affect the synchronization control accuracy and robustness of the system. A biaxial coupling dynamics model is established based on Euler-Lagrange equation. The cross coupling synchronization controller is designed to effectively combine the single-axis tracking error with the biaxial synchronization error and its rate of change. The $H ∞$ robust optimal synchronous controller is designed to overcome the influence of uncertain factors such as parameter perturbation and external disturbances to enhance the robustness of the system. The effectiveness of the method is demonstrated by simulation experiments.

Key words: direct drive H-type platform, permanent magnet linear synchronous motor, cross coupling control(CCC), hybrid error, robust optimal control

中图分类号:

TM359.4

王丽梅, 么红岩, 张康. 直接驱动H型平台鲁棒最优同步控制仿真研究[J]. 系统仿真学报, 2022, 34(3): 527-535.

Limei Wang, Hongyan Yao, Kang Zhang. Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform[J]. Journal of System Simulation, 2022, 34(3): 527-535.

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直接驱动H型平台鲁棒最优同步控制仿真研究

Simulation of Robust Optimal Synchronization Control for Direct Drive H-Type Motion Platform

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