针对高性能机电系统中常用的直线伺服电机,设计了一个能实现快速与准确的定点运动的位置控制器。控制器采用线性控制律与平滑非线性控制律相结合的方案,并利用一个降阶线性状态观测器对电机运动速度(未量测)加以估计。为了消除未知扰动带来的稳态误差,控制律中嵌入了积分控制作用。整个控制律采用全参数化设计,可实现动态增益控制,方便了在线参数整定与性能优化。控制方案应用于一个实际的永磁直线电机位置伺服系统,基于TMS320F28335 DSC进行了试验测试,结果表明系统能对各目标位置进行准确的跟踪,且具有理想的瞬态性能。

A position controller design was proposed to achieve fast and accurate setpoint motion in linear servo motors typically used in highperformance mechatronics systems. The controller adopted a combination of linear control and smooth nonlinear control. A reducedorder linear state observer was adopted to estimate the unmeasured motor speed. An integral action was also inserted to remove the steadystate error induced by unknown disturbance. The controller design was fully parameterized and could implement dynamic gain control, which facilitated the online tuning of parameters for performance optimization. The control scheme was applied to a permanent magnet linear motor servo system, and experimental verification using a TMS320F28335 DSC was conducted. The results show that the servo system is capable of tracking various target positions accurately with a desirable transient performance.

TP 273∶TM 381

福建省自然科学基金项目(2017J01747)