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针对永磁直线同步电动机(PMLSM)伺服系统执行重复性运动任务时存在周期性扰动的问题,提出了一种新型周期学习扰动观测器(PLDOB)来削弱这些扰动。首先,建立了含有不确定性的PMLSM动态模型,利用扰动观测器(DOB)来估计包括参数变化、未建模动态、摩擦力和推力波动在内的扰动。然后,通过周期学习律来校正每个周期内的扰动。此控制方案无需扰动的数学模型以及模型参数的控制律,直接从扰动的角度设计,并且还可以对DOB中Q-滤波器带宽以外的扰动进行补偿。最后,系统实验结果表明该方案是有效可行的,明显提高了系统的跟踪性能和抗扰性能。
In order to solve the problem of periodic perturbations in the permanent magnet synchronous linear motor (PMLSM) servo system, a new periodic learning disturbance observer (PLDOB) is proposed to weaken these disturbances. First, a dynamic model of PMLSM with uncertainties was established. Disturbance observer (DOB) was used to estimate the perturbations including parameter variation, unmodeled dynamics, friction and thrust fluctuations. Then, the periodic learning law is used to correct the perturbations in each cycle. The control scheme without disturbance and the control law of the model parameters are directly designed from the perspective of disturbance, and can also compensate for the disturbance outside the Q-filter bandwidth in DOB. Finally, the system experimental results show that the scheme is effective and feasible, obviously improving the tracking performance and anti-interference performance of the system.