为了提高直线伺服系统的动态性能，克服电励磁直线同步电机存在的参数时变性，设计模型参考自适应速度控制器。系统内环是基于参考模型的速度跟踪控制器，外环自适应机构在线调整速度跟踪控制器的可调参数并使参考模型输出速度与控制对象输出速度之间的广义速度误差趋近于零。采用基于Lyapunov稳定性理论的模型参考自适应速度控制器设计方法，在保证广义速度跟踪误差收敛至零的同时，还保证了模型参考自适应速度控制系统具有稳定性和收敛性。采用欧拉数值积分方法，经过计算机数值仿真计算得到参考模型与控制对象的速度输出和初级交轴电流状态变量的时域响应曲线，验证了该自适应速度控制系统具有全局收敛性。

In order to improve the dynamic performance of linear servo system and overcome the time varying problem of linear synchronous motor parameters, a model reference adaptive speed controller is designed. The inner loop of the system is a speed tracking controller based on the reference model. The outer loop adaptive mechanism adjusts the adjustable parameters of the speed tracking controller online and makes the generalized speed error between the output speed of the reference model and that of the control object approach zero. The design method of model reference adaptive speed controller based on Lyapunov stability theory is adopted. The generalized speed tracking error converges to zero, and the model reference adaptive speed control system has stability and convergence. Using Euler numerical integration method, the output speed curves of the reference model and the control object and the time domain response curve of the primary quadrature current state variable are obtained through computer numerical simulation. The global convergence of the adaptive speed control system is verified.

国家自然科学基金项目(51575363)