Direct decoupling control method of permanent magnet linear synchronous motor-driven suspension platform
A permanent magnet linear synchronization and suspension platform technology, which is applied in the direction of motor generator control, electronic commutation motor control, control system, etc., can solve the problems of affecting positioning accuracy and poor anti-interference ability
Inactive Publication Date: 2012-06-13
SHENYANG POLYTECHNIC UNIV
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However, due to the nonlinear coupling between the horizontal thrust and the vertical normal force, coupled with factors such as load disturbance and parameter uncertainty, which affect the positioning accuracy of the system, higher requirements are placed on the design of the control system
[0005] The existing control system is to add a feedback linearization (FL) module to decouple the PMLSM suspension platform, and then perform positioning control after it is equivalent to a SISO system, but this method has a strong influence on the parameters of the controlled object. Dependence, poor anti-interference ability
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[0111] The present invention will be further described below in conjunction with the accompanying drawings.
[0112] The control system of the present invention comprises DSP, rectification filter circuit, IPM power conversion module, current sensor, grating ruler (connection such as Figure 8 shown), optocoupler isolation circuit (such as Figure 5 shown), crystal oscillator circuit (such as Figure 7 shown), power circuit (such as Image 6 shown) and the PMLSM suspended platform (such as Figure 4 shown), the system structure is as follows image 3 shown. The parameters of the PMLSM suspended platform are shown in Table 1.
[0113] Table 1 Parameters of PMLSM suspended platform
[0114]
[0115] The system of the present invention selects the TMS320LF2407A digital signal processor (DSP) of Texas Instruments Company, has the required peripheral circuit of motor drive, so it is very suitable for developing the full digital servo controller, its operation speed can rea...
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The invention relates to a direct decoupling control method of a permanent magnet linear synchronous motor (PMLSM)-driven suspension platform. An employed control system comprises a DSP, a rectification filter circuit, an IPM power conversion module, a current sensor, a grating ruler, a photoelectrical coupling isolation circuit, a crystal oscillation circuit, a power supply circuit and a PMLSM suspension platform. According to the control method provided in the invention, an actual position, an actual speed and current information of a PMLSM suspension platform are collected; calculation is carried out on the position, the speed and the current information, so that a current control signal of the PMLSM suspension platform is calculated; and a DSP generates corresponded six paths of PWM pulse signals and accurate positioning of the PMLSM suspension platform is controlled. According to the controlled method provided in the invention, independent decoupling modules like a feedback linearization module and the like are not added; instead, a characteristic that a second-order sliding mode itself can carry out decoupling is utilized to carry out direct decoupling control on a horizontal thrust and a normal force, so that dependence of a controller on a model parameter of a controlled object can be reduced and thus accurate positioning of the suspension platform can be controlled.
Description
technical field [0001] The invention belongs to the technical field of high-precision numerical control processing and control, and relates to a direct decoupling control method using a second-order sliding mode to improve the positioning accuracy of a suspension platform driven by a permanent magnet synchronous motor (PMLSM), in particular to a permanent magnet linear synchronous motor A direct decoupled control method for driving a suspended platform. Background technique [0002] Modern manufacturing technology is developing in the direction of high speed, precision and modularization. High-tech manufacturing industries such as information not only put forward higher and higher requirements for the performance of processing equipment such as positioning accuracy and speed, but also put forward higher requirements for the production environment. Microelectronic products such as optoelectronic devices and semiconductor chips are required to be processed in an ultra-clean en...
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IPC IPC(8): H02P21/00H02P6/17
Inventor孙宜标赵希梅夏加宽张桂平
OwnerSHENYANG POLYTECHNIC UNIV