基于自适应模糊控制器和非线性扰动观测器的永磁直线同步电机反馈线性化控制

由于永磁直线同步电机(PMLSM)伺服系统应用于一些高精密场合,因此克服系统存在的负载扰动、参数变化等不确定性影响是提高系统性能的关键.针对不确定性问题,采用一种基于自适应模糊控制器(AFC)和非线性扰动观测器(NDO)的反馈线性化控制方法.首先设计反馈线性化控制器(FLC)实现系统的线性化,便于位置跟踪;其次采用ND...

Feedback linearization control of permanent magnet linear synchronous motor based on adaptive fuzzy controller and nonlinear disturbance observer

A feedback linearization control method based on adaptive fuzzy controller (AFC) and nonlinear disturbanceobserver (NDO) is proposed for the permanent magnet linear synchronous motor (PMLSM), which is susceptible to nonlinearuncertainties such as external load disturbance, parameter variation and friction. Firstly, a feedback linearizationcontroller (FLC) is designed to linearize the nonlinear system and realize position tracking, so as to stabilize the PMLSMcontrol system. NDO is used to estimate and compensate the uncertainties of the system and reduce the position trackingerror of system. However, it is difficult to select the observer gain in the actual operation process, which is very easy toproduce large observation error. Therefore, AFC method is used to approach the observation error of NDO, and the fuzzyrules are dynamically adjusted by the adaptive law, so as to improve the learning ability of the fuzzy controller, enhancethe robustness of the system, and guarantee the closed-loop stability of the system with Lyapunov theorem. Experimentsshow that the method not only makes the system have strong robust performance and good tracking accuracy, but also caneffectively compensate the uncertainty of the system.