电源学报

基于自适应动态规划的PPMLM直接推力控制

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王秀平 , 姚舜禹中国电源学会会员 , 曲春雨

电源学报 | 电机系统与控制 2025,23(5): 227-240

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电源学报 |电机系统与控制 2025 , 23 (5) : 227 -240

基于自适应动态规划的PPMLM直接推力控制

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曲春雨（1979—　），女，硕士，副教授。研究方向：新能源汽车驱动电机及其控制。E-mail：qu434@163.com。

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曲春雨（1979—　），女，硕士，副教授。研究方向：新能源汽车驱动电机及其控制。E-mail：qu434@163.com。

王秀平, 姚舜禹中国电源学会会员, 曲春雨

作者信息

沈阳工程学院电力学院，沈阳　110136

通讯作者:

姚舜禹（1996—　），男，中国电源学会会员，通信作者，硕士研究生。研究方向：新型电机及其控制技术。E-mail：15712327235@163.com。

作者简介:

王秀平（1978—　），男，博士，教授。研究方向：特种电机及其控制技术。E-mail：wangxp@sie.edu.cn。

曲春雨（1979—　），女，硕士，副教授。研究方向：新能源汽车驱动电机及其控制。E-mail：qu434@163.com。

Direct Thrust Force Control of Primary Permanent Magnet Linear Motor Based on Adaptive Dynamic Programming

Xiuping WANG, Shunyu YAO Member, CPSS, Chunyu QU

Affiliations

School of Electric Power, Shenyang Institute of Engineering, Shenyang 110136, China

出版时间: 2025-09-30 doi: 10.13234/j.issn.2095-2805.2025.5.227

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摘要

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针对初级永磁直线电机控制系统易受到负载扰动及参数变化等不确定因素的影响，采用执行依赖启发式动态规划控制算法来提升系统的控制性能与抗扰动能力并减少推力波动。首先，构建了初级永磁直线电机直接推力控制系统的数学模型。其次，将速度跟踪问题转化为最优控制问题，通过最小化性能指标函数以及速度跟踪误差，进而转化为求解哈密顿-雅克比-贝尔曼方程问题，使用基于贝尔曼准则的策略迭代算法求取贝尔曼方程的数值解，最终实现速度的精确跟踪。针对算法中使用BP神经网络易陷入局部最优的不足，设计了自适应学习率，并针对BP神经网络存在逼近误差的问题，在控制律中加入鲁棒补偿项提高速度跟踪的精度。最后，对闭环系统的稳定性进行了解析分析。仿真结果表明，所提控制策略提高了系统的速度跟踪性能，减少了推力波动且对负载扰动及其他非线性因素有着很强的抑制作用。

关键词

初级永磁直线电机 / 执行依赖启发式动态规划 / 策略迭代 / 鲁棒补偿项

Abstract

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Aimed at the problem that the control system for a primary permanent magnet linear motor (PPMLM) is susceptible to uncertain factors such as load disturbance and parameter change, an action-dependent heuristic dynamic programming control algorithm is used to improve the control performance and anti-disturbance capability of the system while reducing the thrust force fluctuation. First, the mathematical model of the direct thrust force control system for PPMLM is constructed. Second, the speed tracking problem is transformed into an optimal control problem, which is further transformed into a problem of solving the Hamilton-Jacobi-Bellman equation by minimizing the performance index function and the speed tracking error. The numerical solution of the Bellman equation is obtained by using a strategy iteration algorithm based on the Bellman criterion. Finally, an accurate tracking of speed is achieved. To solve the problem that the BP neural network is easy to fall into local optimum, an adaptive learning rate is designed. In addition, in view of the problem of approximate error existing in the BP neural network, a robust compensation term is added to the control law to improve the accuracy of speed tracking. Afterwards, the stability of the closed-loop system is analyzed. Simulation results show that the proposed control strategy can improve the speed tracking performance of the system, reduce the thrust force fluctuation and restrain load disturbance and other nonlinear factors.

Key words

Primary permanent magnet linear motor (PPMLM) / action-dependent heuristic dynamic programming / strategy iteration / robust compensation term

引用本文

王秀平, 姚舜禹中国电源学会会员, 曲春雨. 基于自适应动态规划的PPMLM直接推力控制. 电源学报, 2025 , 23 (5) : 227 -240 . DOI: 10.13234/j.issn.2095-2805.2025.5.227

Xiuping WANG, Shunyu YAO, Chunyu QU. Direct Thrust Force Control of Primary Permanent Magnet Linear Motor Based on Adaptive Dynamic Programming[J]. Journal of Power Supply, 2025 , 23 (5) : 227 -240 . DOI: 10.13234/j.issn.2095-2805.2025.5.227

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2025年第23卷第5期

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文章信息

doi: 10.13234/j.issn.2095-2805.2025.5.227

接收时间：2023-02-17
首发时间：2026-10-26
出版时间：2025-09-30

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收稿日期：2023-02-17
修回日期：2023-06-06
录用日期：2023-07-13

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作者信息

沈阳工程学院电力学院，沈阳　110136

通讯作者:

姚舜禹（1996—　），男，中国电源学会会员，通信作者，硕士研究生。研究方向：新型电机及其控制技术。E-mail：15712327235@163.com。

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2种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

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