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清华大学学报(自然科学版)  2016, Vol. 56 Issue (6): 626-632    DOI: 10.16511/j.cnki.qhdxxb.2016.22.023
  机械工程 本期目录 | 过刊浏览 | 高级检索 |
基于重复滑模观测器的直线电机系统干扰估计
李方, 叶佩青, 严乐阳, 张辉
清华大学 机械工程系, 摩擦学国家重点实验室, 精密超精密制造装备与控制北京市重点实验室, 北京 100084
Repetitive sliding mode observer for disturbance estimation of a linear motor system
LI Fang, YE Peiqing, YAN Leyang, ZHANG Hui
Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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摘要 采用常规滑模观测器(SMO)进行干扰估计时, 对时变干扰无法实现无静差跟踪, 并且估计信号存在抖振。针对一种重复运动直线电机系统, 同时存在周期性和非周期性干扰, 该文提出一种重复滑模观测器(R-SMO), 能够有效克服常规SMO的不足。它将周期性干扰的动力学模型(即内模)引入到观测器中, 能够渐近收敛于周期性干扰; 而滑模切换项只需针对非周期性干扰进行设计, 可以大幅度削减抖振。该文给出了R-SMO的渐近收敛性证明。实验结果表明: R-SMO能够有效地估计出直线电机系统的干扰, 用于前馈补偿后提高了跟踪精度, 并且在收敛精度和抑制抖振方面均优于常规SMO。该方法还可以扩展到多周期干扰系统和非重复运动领域。
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李方
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张辉
关键词 滑模观测器重复运动周期性干扰直线电机    
Abstract:The drawback of the conventional sliding mode observer (SMO) when used for disturbance estimation is that it leads to nonzero estimation errors for a time-varying disturbance and chattering. A repetitive SMO (R-SMO) is developed for a repetitive linear motor system where periodic and non-periodic disturbances exist at the same time, which overcomes the drawback of the conventional SMO. The R-SMO incorporates the internal mode of the periodic disturbance to achieve asymptotic convergence to the periodic disturbance. The switching term then only needs to estimate the non-periodic disturbance which significantly reduces the chattering. The R-SMO is shown to be asymptotically convergent. Tests show that the R-SMO well estimates the disturbances of a linear motor system, improves the tracking accuracy after feedforward compensation and is superior to the conventional SMO in terms of convergence accuracy and chattering. Extensions to systems with multiple periodic disturbances and non-repetitive systems are discussed.
Key wordssliding mode observer    repetitive motion    periodic disturbance    linear motor
收稿日期: 2015-10-26      出版日期: 2016-07-01
ZTFLH:  TP27  
通讯作者: 叶佩青, 研究员, E-mail: yepq@tsinghua.edu.cn     E-mail: yepq@tsinghua.edu.cn
引用本文:   
李方, 叶佩青, 严乐阳, 张辉. 基于重复滑模观测器的直线电机系统干扰估计[J]. 清华大学学报(自然科学版), 2016, 56(6): 626-632.
LI Fang, YE Peiqing, YAN Leyang, ZHANG Hui. Repetitive sliding mode observer for disturbance estimation of a linear motor system. Journal of Tsinghua University(Science and Technology), 2016, 56(6): 626-632.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2016.22.023  或          http://jst.tsinghuajournals.com/CN/Y2016/V56/I6/626
  图1 微型圆筒型直线电机系统
  图2 常规SMO 原理图
  图3 RGSMO 原理图
  图4 PI控制器和RGSMO 观测器框图
  图5 实验指令轨迹和跟踪结果(补偿前)
  图6 RGSMO 和SMO 的速度观测值和观测误差对比
  图7 RGSMO 和SMO 的干扰估计值对比
  图8 RGSMO 和SMO 的干扰估计值对比
(箭头处施加突变干扰)
  图9 实际位置x 和跟踪误差e (补偿后)
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