永磁直线同步电机伺服系统自抗扰反步控制器

为了提高永磁直线同步电机伺服系统的鲁棒性，提出基于自抗扰思想的反步控制器。将永磁直线同步电机伺服系统中的未建模动态和外界扰动定义为总和扰动，并扩充为系统新的状态变量。设计了线性扩张状态观测器估计不可直接测量的直线电机动子速度以及总和扰动，证明并分析了设计的线性扩张状态观测器的收敛性和估计误差。利用线性扩张状态观测器的输出，基于动态补偿线性化思想设计了反步控制器。证明了考虑线性扩张状态观测器估计误差的闭环反馈控制系统的稳定性。在Googol公司的实验平台上，验证了设计的自抗扰反步控制器的可行性。
In order to improve robustness of the permanent magnet linear synchronous motor servo systems, an active disturbance rejection backstepping controller was presented. The unmodeled dynamics and disturbance were defined as overall disturbance and viewed as a new system state. A LESO (linear extended state observer) was designed to estimate the velocity of the mover and the overall disturbance, and convergence proof and estimation error of the LESO were given. With the linearization via dynamic compensation, a backstepping controller was designed using the outputs from the LESO. The stability of the closed loop feedback control system was given considering the estimation error of LESO. The effectiveness of the proposed controller was verified in the experimental platform, which was made by Googol Company.