A kind of permanent magnet linear motor control method

Abstract

The invention discloses a permanent magnet linear motor controller, which realizes the control of the motor through the combination of an H∞ robust controller, a ZPETC zero-phase error tracking controller and a disturbance observer. Among them, the ZPETC zero-phase error tracking controller is used as the feed-forward controller of the system, and the phase error is reduced by zero point elimination; the interference observer realizes the elimination of high-frequency interference signals by adding a low-pass filter; H∞ The robust controller design adopts the mixed sensitivity design method, which comprehensively considers the balance between sensitivity and robustness; and sets the H∞ robust controller parameter value by fuzzy judgment on the results of ZPETC and disturbance observer Optimization. The present invention optimizes the dynamic performance and steady-state performance of the permanent magnet linear motor by combining the controller constructed by the above three methods. The controller can effectively improve the positioning accuracy, response characteristics and anti-interference ability.

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...

AI Technical Summary

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

Images