A Stable Adaptive Robust Position Control Method for Permanent Magnet Synchronous Linear Motors

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 a permanent magnet synchronous linear motor; the actual system has parameter uncertainties, Unfavorable factors such as uncertain nonlinearity and non-parametric uncertainty, the control target In this case, after designing the control law and adaptive law, proof of convergence, proof of robustness, and using u as the control input of the servo controller, Encoder signal as real-time feedback of position information. The present invention proposes stable adaptive robust control on the basis of adaptive robust control, combines the characteristics of adaptive control and robust control, and adds regression quantity substitution and dead zone methods, so that the permanent magnet synchronous linear motor can realize Fast and accurate trajectory tracking, very good suppression of the influence of the three types of influencing factors in the nonlinear system, strong anti-interference ability 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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