Permanent magnet linear motor control method

A permanent magnet linear motor and control method technology, applied in the direction of motor generator control, AC motor control, electronic commutation motor control, etc., to achieve the effect of fast response speed, good stability, and optimized steady-state performance

Active Publication Date: 2016-01-06
SOUTHEAST UNIV
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Problems solved by technology

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a permanent magnet linear motor control method, comprehensively using H ∞ Robust control, ZPETC zero-phase error tracking control and disturbance observer to solve the high-precision control problem of linear motors such as highly coupled, nonlinear and multivariable systems; can effectively improve the target tracking characteristics and anti-interference characteristics of linear motors, Reduced steady-state error and response time for better control performance

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] A permanent magnet linear motor control method, the feedback signal is detected through the current loop, the speed loop and the position loop, wherein the current loop adopts H ∞ Robust controller sets the output, the position loop uses the disturbance observer to process the feedback signal, and the zero-phase error tracking controller is used to process the given position signal; H ∞ The value of the parameter weight factor μ of the robust controller is obtained from the output of the zero-phase error tracking controller and the output in the denominator of the disturbance observer through fuzzy judgment. In this control method, according to the electromagnetic force, voltage balance and mechanical equation of the permanent magnet linear motor, the mathematical model PMLSM of the permanent magnet linear motor is obtained, and each controller is designed based...

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Abstract

The invention discloses a permanent magnet linear motor controller which controls a motor by means of a combination of an H-infinity robust controller, a ZPETC (zero phase error tracking controller) and an interference observer. The ZPETC is used as a feed-forward controller of a system and reduces phase errors by means of zero point elimination. The interference observer eliminates high-frequency interference signals by being provided with a low-pass filter. The H[sigma] robust controller utilizes a mixed-sensitivity design method, comprehensively considers balance between sensitivity and robustness, and sets the optimization of the parameters of the H-infinity robust controller by performing fuzzy judgment on the results of the ZPETC and the interference observer. The controller combining the above three methods optimizes the dynamic performance and the stable performance of a permanent magnet linear motor, and may effectively improve positioning precision, a response characteristic, and an anti-interference capability.

Description

technical field [0001] The invention relates to a drive controller of a permanent magnet linear motor, which belongs to the motor servo and control technology. Background technique [0002] In industrial production equipment, there are many occasions that require linear motion, such as CNC grinding machines, punching machines, laser cutting, wafer manufacturing, etc. Due to the traditional rotary servo motor plus ball screw nut pair or rotary servo motor plus precision gear box, etc., the driving transmission method involves many intermediate parts, large motion inertia, and elastic deformation, backlash, friction, vibration, etc. Linear and non-linear errors such as stiffness reduction, response lag, etc. The direct drive transmission system adopts "zero transmission", directly connects the motor to the dynamic load, and cancels all the transmission links in the middle, so as to realize the rigid coupling between the source power and the load. The advantages of linear mot...

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Application Information

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IPC IPC(8): H02P25/06H02P21/13
Inventor 余海涛程帆徐鸣飞胡敏强黄磊封宁君
Owner SOUTHEAST UNIV
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