【作者】 苑士鑫；

【导师】 张卯瑞；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2009， 硕士

【摘要】 本论文是以国家科研项目“直线驱动控制系统研究”为依托,把永磁同步直线电机作为研究对象,采用模糊控制、滑模变结构控制方法分别设计直线驱动控制系统速度控制器,并与传统PID速度控制器进行比较分析。同时,针对直线驱动中特有的一些问题,如摩擦力扰动、电机推力波动及系统模型参数摄动等不良因素,对两种控制器进行优化设计,削弱、抑制扰动因素的不良影响,实现对系统给定速度信号的快速、准确响应,提高系统的鲁棒性,从而达到设计指标要求。论文首先根据设计指标,对直线驱动执行元件—永磁同步直线电机具体参数和型号进行了选择,并通过直线电机工作原理、矢量控制基本原理的研究和分析,给出直线电机的运动方程,建立了永磁同步直线电机的d-q数学模型。在速度控制中,重点研究两种控制方法,设计了模糊速度控制器、滑模变结构速度控制器。在系统设计过程中,针对直线驱动中的摩擦力扰动,提出了干扰观测器的策略对其进行补偿和抑制,解决了模糊速度控制器对于恒定外力扰动存在静态误差的问题,提高了系统的动态性能和稳定性能。此外,为了解决永磁同步直线电机的推力波动问题及滑模变结构控制的“抖振”问题,本文引入一种基于负载推力观测器的滑模变结构控制策略,实现对推力波动的补偿,使推力电流跟随负载推力变化,从而大大削弱了推力纹波和系统的“抖振”,并减小了滑模控制的幅值,提高了系统的动态性能和稳定性。另外,滑模控制算法自身对系统外部扰动和参数摄动具有很强的鲁棒性,这也提高了系统的抗干扰能力。最后,对每种控制方案都在Matlab/Simulink7.7平台进行了仿真测试,并与传统PID控制方案进行对比分析,从而验证了两种方案的有效性。同时,完成了直线控制系统硬件和软件方案设计。更多还原

【Abstract】 This dissertation is the research based on national scientific project of“linear drive control system”. In this dissertation, fuzzy control strategy and slide-mode variable structure control strategy are used to design the speed controller of the linear-driving control system, and the performance analyses are compared with traditional PID’s. At the same time, for some specific adverse issuses such as friction disturbance, motor force fluctuation and system parameters perturbation, the two types of controllers are optimized to weaken and suppress the adverse effects, so that the system could rapidly and accurately tradck to the command speed signal, and the robustness is improved.Firstly, according with design requirements, the related parameters and type of Permanent magnet synchronous linear motor(PMSLM) are selected. And through the analysis of the PMSLM principle and the decoupling technology of vector control algo-rithm, the motion equations of motor are given, and the d-q mathematical model is established. In the design of speed controller, two control methods are mainly studied to design the fuzzy speed controller and sliding mode variable structure controller(SMC).In the process of system design, considering the disadvantages of fuzzy controller which exists static speed error for a constant disturbance outside the system, a type of disturbance observer is applied to suppress the friction force disturbances, so that the dynamic performance and stability are improved.In addition, in order to solve the problems of motor thrust fluctuation and the chattering in SMC, an observer strategy based on the thrust load is proposed to realize the compensation of thrust fluctuation, make the load current to follow the changes. And it greatly weakened the thrust ripple and system speed chatting, reduces the amplitude of sliding mode control. At the same time, the dynamic performance and stability are also improved. For the system’s external disturbance and parameter perturbation, the sliding mode control also has strong robustness and increase the anti-jamming capability of the system.Finally, each control strategy is tested in Matlab/Simulink Simulation platform, and through comparative analysis with traditional PID control method, the results verified the effectiveness of the two strategies. In addition, the dissertation also completed the hardware and software design of the system.更多还原