直线电机伺服系统的无模型自适应控制

针对直线电机对扰动和系统参数变化的敏感性和由于摩擦力和推力脉动使系统具有明显的非线性特性,设计了基于C-SPACE实时仿真系统的无模型控制器,用Matlab/Simulink搭建了控制算法,并进行了硬件在回路仿真,采用基于紧格式线性化方法的无模型自适应控制方法,对应用C-SPACE实时仿真系统进行了算法分析。此外,对无模型控制算法和常规PID算法进行了分析比较,实验结果表明,无模型自适应控制算法在控制直线电机时的控制效果都要优于PID控制,比PID算法更为简洁化。

Mode-free adaptive control on linear motor servo system

As linear motor is sensitive to the disturbance and system parameter changes,and it is significantly non-linear because of friction and the thrust pulsation,a model-free adaptive controller is designed based on C-SPACE real-time system.A control algorithm is built using Matlab/Simulink and hardware in the loop simulation is made.A format based on the compact linear method of the model-free adaptive control algorithm is studied based on the real-time system.Model-free adaptive control and PID algorithm have been analyzed and compared.The experiment shows that the effect of model-free adaptive algorithm is better than PID control and model free adaptive control（MFAC） is simpler than PID control.