Study On Nonlinear Adaptive Robust Control For Permanent Magnet Linear Servo System

It is a gravely transform that the linear server driving technology is applied to numerically controlled Machine Tool. The linear permanent magnet synchronous motor(LPMSM) has avoided the effects of the mechanical transmission chains from rotary motions to linear ones, and has strong electromagnetism thrust, lower cost, small electrical time constant and rapid response etc. However, influences from the perturbatron of system model and the disturbance of load reflect to the system directly without any buffer between them. Therefore, the stricte demands are requested to the control technology. Otherwise, with many system uncertainties considered adequately, the system should have a high robust stability and robust quality under all circumstances. adaptive robust control method just is a control method that aim at the system uncertainties and try to keep the robust stability and robust quality of system.This thesis presents a nonlinear adaptive robust controller based on genetic algorithm for permanent magnet linear motor servo system. On the basis of the permanent magnet linear motor servo system nonlinear mathematical model, an error system dynamic equation is set up in order to reach accurate track of the motor speed and cunent. The track and disturbance restraint is summed up nonlinear adaptive robust control question. Furthermore, a theory including formulaes of resistance and inductance identification used to describe nonlinear adaptive robust robust controller is obtained by defining storage function, the nonlinear adaptive robust control law which meet disturbance restraint and asymptotical stability is proved.Although the adaptive control has well robustness, the control effect depends on the choice of the controller parameters in large degree. Due to the controller parameters tuning has no material method can be followed, the improved results mostly found by the testing method.If the adjustment parameter is overfull,this testing method is difficult to carry out. Therefore, this paper used the performance as the fitness function and design the adaptive optimization controller. Simulation indicated that the linear servo system with nonlinear adaptive robust controller can guarantee a good disturbance restraint as well as the tracks of input signal, and can finally satisfy control requirement for high-performance linear servo system.