摘要
针对纹波推力对永磁同步直线伺服系统的影响,提出了一种纹波推力补偿策略:基于纹波推力自适应补偿的永磁同步直线伺服系统位置控制。在这种控制策略中,首先采用快速傅里叶变换分析推力电流来离线提取纹波推力的特征频率,有利于纹波推力数学模型的简化,再通过递推最小二乘算法在线辨识纹波推力的模型参数,结合纹波推力的特征频率和模型参数,动态地实现了纹波推力的精确估计,最后将纹波推力估计模型直接作用于永磁同步直线伺服系统,对推力电流进行前馈补偿控制,从而实时抑制纹波推力。实验结果表明,采用所提的补偿策略,最大位置跟踪波动误差从补偿前的50μm左右下降到补偿后的不足20μm,位置控制性能得到明显改善,对高性能永磁同步直线伺服系统的抗扰动策略研究具有重要的理论和现实意义。
Aiming at the effect of force ripple on permanent magnet synchronous linear servo system, a control strategy, position adaptive compensation, is proposed. To simplify the mathematical model of the force ripple, the characteristic frequency can be firstly obtained off-line with fast Fourier transform （FFT） analysis. The model parameters of the force ripple can be identified on-line with recursive least squares algorithm. Combining with the characteristic frequency and the model parameters, the precise estimation of the force ripple is realized. The estimation model of the force ripple is directly applied to the real-time compensation for permanent magnet synchronous linear servo system. The experiments for verifying the above control strat6gy show that the maximum fluctuation error of position tracking is reduced from 50 μm to less than 20 μm, and the position control performance is improved obviously.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2014年第2期106-110,共5页
Journal of Xi'an Jiaotong University
基金
国家自然科学基金资助项目(50905069
61174106)
国家重大科技专项基金资助项目(2012ZX04001012)
关键词
永磁同步直线伺服系统
纹波推力
快速傅里叶变换
递推最小二乘算法
实时补偿
permanent magnet synchronous linear servo system
force ripple
fast Fourier trans-form
recursive least squares algorithm
real-time compensation
