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基于电流分配系数自适应修正的平面电机解耦控制

, PP. 53-60

Keywords: 平面电机,解耦,电流分配,自适应修正

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Abstract:

对于模型参数具有不确定性的平面电机运动系统,电流分配策略是引起其多自由度耦合行为的本质。但现有解耦控制的研究主要集中于各运动自由度控制算法的设计,没有从电流分配的物理层面解决耦合问题。论文针对平面电机三自由度解耦控制,建立了各线圈单元通电电流与三自由度位移输出之间的ARMA(autoregressiveandmovingaverage)模型,以实测输出与估计输出之间的残差平方最小为优化目标,提出了一种基于电流分配系数自适应修正的解耦控制算法,并给出了可用于实际控制的递推离散化方法。通过在线调节,使电流分配系数估计值逼近实际模型参数,从物理本质减小了多自由度耦合作用。采用轨迹跟踪实验,并与基于数据解耦控制方法进行对比,结果表明该方法提高了平面电机的定位与运动精度,验证了其对一类MIMO(multipleinputmultipleoutput)运动系统多自由度解耦的有效性。

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