H∞Robust Controller Design of Direct Drive Ring PM Motors used in NC Rotary Table
Compared with traditional gear-driven system.the control performances of the permanent magnet(PM)torque motor used in direct drive numerical control (NC)rotary table are influenced by the disturbances mainlY derived from motor itself,variable Ioad rotary inertia and uncertain cutting force.Aimed to deal with above problems,the H(oo) robust controller K(s)is designed in this paper,which can restrain the load disturbances and not depend on the accurate nmthematic model.The controller K(s)is designed based on the generalized plant G(s)Which is composed of the nominal plant and three weighting functions.And regard the H(oo)norm of Iinear fractional trausformation of G(s)and(s)as suboptimum objective,the H(oo) robust controller K(s)can be obtained by selecting the weighting functions appropriately.Then the genetic algorithm is employed to optimize the controller parameters.Simulation results show that the proposed H(oo) robust controller can make the ring PM torque motor operate smoothly and be robust to the load torque disturbance.so the proposed robust speed controller meets the requirements of torque motor servo system used in direct drive NC totary table.
directdrive Pmtorquemotor Ncrotarytable H(oo)robust control genetic algorithm
Jiakuan Xia Ting Dong Chengyuan Wang Zhen Lin
国际会议
The International Conference Information Computing and Automation(2007国际信息计算与自动化会议)
成都
英文
1481-1484
2007-12-19（万方平台首次上网日期，不代表论文的发表时间）