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《Proceedings of the CSEE》 2009-30
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Robust Repetitive Control for Permanent-magnet Linear Synchronous Motor Based on μ Theory

SUN Yi-biao, YAN Feng, LIU Chun-fang (School of Electrical Engineering, Shenyang University of Technology, Shenyang 110178, Liaoning Province, China)  
Permanent-magnet linear synchronous motor (PMLSM) servo system has the merits of high speed, high response, and direct drive, but the servo performance is affected by the position-dependent periodic thrust ripple caused by ending effect, friction and parameters uncertainties. To weaken the influences of the position-dependent periodic disturbances and parameter uncertainties, the robust repetitive controller was designed, which associated structure singular value theory (μ theory) with the discrete-time repetitive control theory. The problem of robust repetitive control was transformed into one of H∞ optimal control using linear fractional transformation (LFT). The robust repetitive controller (RRC) was achieved using D-K iteration procedure and made the servo system have stability, robustness and tracking performance. The simulation results show that the proposed scheme can efficaciously reduce the influence of the periodic disturbance and uncertainties of PMLSM servo system, and make the system have good robustness and tracking performance.
【Fund】: 国家自然科学基金项目(50805098)~~
【CateGory Index】: TM341
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