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《Transactions of China Electrotechnical Society》 2005-04
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H_∞Robust Tracking Control for the Linear Servo System Based on the Learning Feedforward Compensation

Zhao Ximei Guo Qingding (Shenyang University of Technology Shenyang 110023 China)  
For the direct-drive servo system of permanent magnet linear synchronous motor (PMLSM), on the basis of the analysis of the linear servo system performance influences to uncertain factors such as end-effect and load disturbances of the PMLSM, and parametric changes of the system, a robust tracking control strategy based on combining learning feedforward control with H∞ robust control is proposed in this paper. In order to eliminate the influence of the end-effect, the learning feedforward compensation control technology based on B-spline network is adopted; therefore, the better compensation effect is obtained. In order to overcome the influence of the uncertainty disturbances, the H∞ robust control strategy is adopted, so this ensures the stronger robustness of the system. The simulation results show that the control scheme not only can ensure fast and accurate tracking performance, but also reduce the influence of the uncertainty disturbances; therefore, the tracking performance and robustness of linear servo system are improved greatly.
【Fund】: 国家自然科学基金资助项目(50075057)。
【CateGory Index】: TM351
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