Improved iterative learning control method and control system for permanent magnet linear synchronous motor

Abstract

The invention discloses an improved iterative learning control method and an improved iterative learning control system for a permanent magnet linear synchronous motor (PMLSM). The control method comprises the following steps of: calculating the control voltage of a stator of the PMLSM by adopting a time axis and iteration axis superposed iterative control law algorithm; introducing an initial control variable u0 on the time axis of the iterative control law algorithm, and designing an adaptive factor alpha; and adding a feedforward control variable to the (k+1)-iterated control voltage of the PMLSM following an iterative learning law. The control system comprises an embedded controller, a power driving module connected with the stator of the PMLSM, and a rotor displacement sensor arranged on the PMLSM. The oscillation of an initial iteration track is avoided, and an iterative convergence speed is increased; and control accuracy is improved to be 0.55 percent.

Description

(1) Technical field [0001] The invention relates to the technical field of intelligent control of permanent magnet synchronous linear motors, in particular to an improved iteration of permanent magnet synchronous linear motors through iterative learning of historical data for periodic interference occurring in the reciprocating motion of permanent magnet synchronous linear motors Learn control methods and control systems. (2) Background technology [0002] The permanent magnet linear synchronous motor (Permanent Magnet Linear Synchronous Motor, PMLSM) adopts direct drive, which simplifies the equipment such as gears, balls and screws, so it has faster response speed, higher sensitivity, better follow-up performance, and can realize ultra-high-speed motion . And it also has more advantages than other motors in terms of positioning accuracy and efficiency. Due to the use of direct drive, uncertain factors such as system parameter perturbation, load disturbance and external n...

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