Stable adaptive robust position control method for permanent magnet synchronous linear motor

Abstract

The invention discloses a stable adaptive robust position control method for a permanent magnet synchronous linear motor, and provides a stable adaptive robust control system to realize high-precision position control of the permanent magnet synchronous linear motor. A practical system has adverse factors such as parameter uncertainty, indeterminate nonlinearity and non-parametric uncertainty; under such circumstances, by designing the control law, the adaptive law, the convergence proof and the robustness proof, u is taken as a control input of a servo controller by a control object, and an encoder signal is taken as real-time feedback of position information. On the basis of adaptive robust control, stable adaptive robust control is provided; the characteristics of adaptive control are combined with the characteristics of robust control; regressor substitution and dead zone methods are added, so that rapid and accurate trajectory tracking is realized by the permanent magnet synchronous linear motor; the effects caused by three influence factors of a nonlinear system are well restrained; and the permanent magnet synchronous linear motor has relatively high anti-jamming capability and good stability.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a stable adaptive robust position control method for a permanent magnet synchronous linear motor. Background technique [0002] The permanent magnet synchronous linear motor is directly connected to the driven load during operation, which eliminates the gap, flexibility and other related problems caused by mechanical transmission. It has the characteristics of direct drive, zero cogging effect, high speed and high acceleration, so in recent years It is widely used in the field of precision engineering. However, the direct drive will cause the change of the load to act directly on the motor. In addition, the external interference, the uncertainty of the motor parameters, the friction of the linear guide rail, and the end effect of the motor itself, the thrust density is relatively low, and the distribution of the air gap magnetic density is uneven. Thrust fluctuations caus...

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Problems solved by technology

However, in practical applications, there is also a class of non-parametric uncertainty factors, such as measurement noise and interference

[0004] Generally speaking, parameter drift is a problem about non-parametric uncertainty (noise and interference), mainly generated by measurement noise, which occurs when the signal does not meet the continuous excitation conditions, and only affects the accuracy of the system when the system is unstable.

But when the adaptive gain or the reference signal is very large, the adaptation becomes very fast, so that the parameter estimates may oscillate violently, switch back and forth, and may further excite high-frequency dynamics that were neglected in the modeling. activation, then the adaptation may be performed on the basis of useless signals, resulting in an unstable control system, so it is very important to weaken and eliminate parameter drift

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