H∞ preview repetitive control of PMLSM based on equivalent input disturbance compensation
SUN Yi-biao
ZHANG Rui
WANG Li-mei
Abstract：The application of permanent magnet linear synchronous motor(PMLSM)in periodic high-precision po-sition servo is susceptible to uncertainties,which is primarily caused by periodic end effects thrust ripple and parameter perturbations.Therefore,a method for H∞ preview repetitive control of PMLSM based on an equivalent input disturbance compensation is proposed.Firstly,a preview compensator and an error compensation term are introduced into the feed-forward compensation loop,which are used to minimize the tracking error caused by the ineffectiveness of the positive feedback delay link in the first control cycle of the repetitive controller.Then,an equivalent input disturbance compensator equivalent input disturbance compensator based on the sliding mode observer(SMO-RCEID)is designed based on the sliding mode observer to compensate for the end effects thrust ripple and parameter perturbations of the PMLSM.Finally,the conditions for the stability of the SMO-RCEID compensator and the H∞ preview repetitive control system described by the two-dimensional continuous/discrete hybrid model are derived by means of the Lyapunov stability theory combined with the linear matrix inequality(LMI),and the controller gain and observer gain of the system are obtained.Simulation results demonstrate that this method has excellent tracking performance and disturbance rejection capability.
Keywords：permanent magnet linear synchronous motorpreview controlrepetitive controlequivalent input distur-bancelinear matrix inequalitytwo-dimensional continuous/discrete hybrid model
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：11( 1957-1967 )