Permanent magnet synchronous linear motor sliding-mode control method based on variable exponential reaching law

Abstract

The invention discloses a permanent magnet synchronous linear motor sliding-mode control method based on the variable exponential reaching law. The method includes the steps that 1, coordinate transformation is conducted on a prototype motor equation, and a PMSLM mathematical model in a d/q coordinate system is built; 2, a PMSLM double closed-loop servo control system composed of a current loop and a velocity loop is built; 3, a linear switching function is selected, and an exponential sliding-mode control law is obtained according to the exponential reaching law; 4, a saturation function replaces a sign function in the sliding-mode control; 5, an integration element is introduced on the basis of the switching function, and a variable exponential sliding-mode control law is obtained through the exponential reaching law; 6, non-linear relationship of sliding-mode gains and velocity errors is achieved. According to the permanent magnet synchronous linear motor sliding-mode control method based on the variable exponential reaching law, a current-velocity double closed-loop decoupling control structure is adopted, according to the chattering problem in the sliding-mode control, an integral switching surface and the variable exponential reaching law are introduced on the basis of a conventional sliding mode controller, the disturbance caused by load changes is effectively inhibited, and the tracking performance of the velocity and the robustness of a system are significantly improved.

Description

technical field [0001] The invention relates to a PMSLM servo system, in particular to a sliding mode control of a permanent magnet synchronous linear motor based on variable exponent reaching law. Background technique [0002] With the development of motor and its drive control technology, a direct-driven permanent magnet synchronous linear motor has appeared. Compared with the traditional rotary motor plus ball screw, this linear motor cancels the intermediate transmission device and directly drives the load to move. It avoids the influence caused by mechanical transmission, so it has the advantages of high efficiency, high speed and high acceleration. In the field of high-speed and high-precision processing machine tools, although rotary motor plus ball screw drive and linear motor drive will coexist for a long time, however, judging from the current trend, linear motor drive is likely to ban ball screw as the feed of machine tools. driven mainstream. [0003] However, ...

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Problems solved by technology

However, domestic research in this area is still in its infancy, and there is still a big gap, and the key technologies are basically mastered by major manu...

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