[关键词]
[摘要]
针对永磁同步直线电机精确速度跟踪问题,提出一种基于干扰观测器的自适应PID控制器。首先针对基于矢量控制的直线电机模型设计非线性干扰观测器进行干扰观测。同时基于李雅普诺夫稳定性设计超限补偿控制器以及在线更新的投影自适应律使得PID控制律始终跟随反馈控制律。最后通过实验分析,结果证明了该控制策略有更好的动态性能及鲁棒性。
[Key word]
[Abstract]
A adaptive PID controller based on disturbance observer was designed to deal with the problem of speed tracking of permanent magnet synchronous linear motor. Firstly, a nonlinear disturbance observer was designed for the linear motor model based on vector control. Based on Lyapunov function, the over limit compensation controller was designed and the projection adaptive law was updated on line, which makes the PID control law followed the feedback control law. Finally, the experimental results show that the control strategy has better dynamic performance and robustness.
[中图分类号]
TM 341
[基金项目]
国家电网公司科学技术项目(5211SX19000L);国网浙江省电力有限公司科研项目(SGZJSX00XTJS1800629)