永磁直线同步电机位置系统的模糊IP控制研究

Research of Fuzzy IP Control for Permanent Magnet Linear Synchronous Motor Position System

摘要:

针对具有电磁推力大、响应快、易于矢量解耦控制的永磁直线同步电机PMLSM,研究高精度位置伺服控制系统的设计,以满足高速加工与高精度微进给加工的需求；考虑被控对象的变化和外界扰动,控制器的参数难于在线修订,设计了一种模糊/积分-比例IP位置控制器；它将具有并联反馈环节的IP控制器与模糊控制器有效结合,根据位置偏差的变化率进行切换,即存在较大输入指令与系统输出偏差较大时采用模糊控制,而系统输出接近于输入指令时则采用IP控制器,从而发挥模糊控制器对变参数系统的自适应性和IP控制器的快速和准确性优势；仿真实验结果表明模糊/IP控制器在稳态精度和动态性能方面优于单纯的IP控制器和模糊控制器,能够满足变参数控制系统的性能指标。

Abstract:

To meet the demand of high speed machining and high precision micro feed processing, a high precision position servo control system is studied in this paper for permanent magnet linear synchronous motor PMLSM which has the characteristic of high electromagnetism thrust-intensity, fast response time and easiness to realize vector decoupling control etc. Considering the controlled object change and external disturbance, and it is difficult to adjust the controller parameters online, a fuzzy / integration-proportion IP position controller is proposed which combines the IP controller with the parallel feedback loop with the fuzzy controller effectively. The combined controller will be switched according to the change rate of position deviation, that is, the fuzzy controller is adopted when the input command is large and the system output error is large, and the IP controller is used when the system output is close to the input command, and thus makes use of the fuzzy controller's adaptability to the variable parameter system and the advantages of fast and accurate IP controller. The simulation results show that fuzzy/IP controller is better than the IP controller and fuzzy controller in the steady-state accuracy and dynamic performance, which can satisfy the performance index of the variable parameter system.