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

A permanent magnet synchronous linear and variable index technology, applied in motor generator control, AC motor control, electronic commutation motor control, etc. Weakening chattering, suppressing disturbance, and reducing the effect of overshoot

CN106788098AInactive Publication Date: 2017-05-31NANJING NORMAL UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-05-31
Estimated Expiration
Not applicable · inactive patent

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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.
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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, ...

Examples

Embodiment 1

[0145] Embodiment 1: Simulation of sliding mode controller based on variable exponential reaching law

[0146] The simulation model of the variable exponential reaching law sliding mode controller using the integral switching surface is as follows: Figure 9 Shown: The controller parameter is set to: C 0 = 5, C 1 =2, k=40, a=0.01, b=0.5. Other parameters during simulation are the same as above.

[0147] In order to verify the control performance of the control system after adopting the sliding mode controller, set the working state of the load after the load is started at a constant speed and the working state of the acceleration after the constant load is started for simulation, and the output waveforms of the motor when the motor is working under the two operating states are obtained. .

[0148] First, in order to verify the speed tracking performance of the motor, set the running state of the motor: the load is constant at 150N, the initial speed is 0.6m / s, and the give...