磁悬浮永磁直线电动机悬浮系统模糊 PID控制器的设计

摘要

为消除直线电动机驱动的数控机床进给系统的摩擦阻力，实现无摩擦进给，采用一种新型的磁悬浮永磁直线同步电动机，将矢量控制分别应用于两套绕组，可以实现推力与悬浮力的解耦，进而实现对电动机悬浮子系统的独立控制。针对悬浮子系统为非线性被控对象以及存在不确定性未知扰动的特性，设计模糊PID控制器，并将其应用到悬浮子系统位移环中，以满足悬浮系统控制高精度、高鲁棒性的要求。仿真结果表明：该控制器能起到良好的抗干扰作用，系统的跟踪误差小，可以保持悬浮系统的稳定性。%In order to eliminate the friction of numerical control machine tool feed system driven by linear motor,a new magnetic suspension permanent magnet linear synchronous motor (PMLSM)was adopted. Vector control was applied to two sets of windings,so thrust and suspension force could be decoupled. Then the motor suspension subsystem could be controlled independently. It was difficult to control suspension subsystem of PMLSM because of the nonlinearity of the suspension subsystem model and uncertainty disturbances. A fuzzy PID controller was designed,which was used in displacement loop of the suspension subsystem to meet high accuracy and high robustness control requirements. The simulation results indicate that the suspension subsystem with this controller has a good performance for restraint disturbance and track of input signal.