Internal-model-based sliding mode control method capable of inhibiting mismatching disturbance of permanent magnet linear motor

Abstract

The invention discloses an internal-model-based sliding mode control method capable of inhibiting mismatching disturbance of a permanent magnet linear motor. The internal-model-based sliding mode control method includes the steps that a five-phase fault-tolerant permanent magnet cylindrical linear motor model with mismatching disturbance is set up; an internal model controller of an ideal system is designed by adopting an internal model control strategy; based on the motor second-order mathematic model, mismatching disturbance observers are designed to observe mismatching disturbance of a motor system; two kinds of mismatching-disturbance-based observers are designed, the sliding mode control rules (the symbol is shown in the description) of the system under the two methods are solved; the expression (the symbol is shown in the description) is equivalently transformed to contain system mismatching disturbance errors, the Lyapunov function is selected, and the obtained sliding mode control rules (the symbol is shown in the description), a d-axis voltage set value (the symbol is shown in the description), an x-axis voltage set value (the symbol is shown in the description) and a y-axis voltage set value (the symbol is shown in the description) are used for achieving high-performance operation of the internal-model-based sliding mode control system capable of inhibiting mismatching disturbance of the fault-tolerant permanent magnet cylindrical linear motor by means of a voltage source inverter through a CPWM modulation method, wherein the d-axis voltage set value, the x-axis voltage set value and the y-axis voltage set value are output by a PI current regulator.

Description

technical field [0001] The invention relates to a sliding mode speed control method for suppressing the unmatched disturbance of a permanent magnet synchronous motor, in particular to an internal model-based sliding mode speed control (IM-SMC) method for suppressing the unmatched disturbance of a permanent magnet linear motor. It is suitable for occasions that require high dynamic performance and robust stability of the motor, such as aerospace, ship propulsion, and electric vehicles. Background technique [0002] The vehicle suspension determines the handling stability, ride comfort and ride comfort of the vehicle, and is one of the most important related components in the vehicle's driving performance. Compared with the traditional passive suspension system, the electromagnetic active suspension system can adjust the body characteristics in real time according to the current driving conditions of the vehicle, thereby improving the driving performance of the vehicle. As th...

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Problems solved by technology

[0004] According to the characteristics of the permanent magnet cylindrical linear motor, aiming at the development status of the motor sliding mode control technology and the above existing deficiencies, the purpose of the present invention is to overcome the complex working conditions and existing problems of the five-phase permanent magnet fault-tolerant cylindrical linear motor system for electromagnetic suspension. Due to the defects that the dynamic performance and robust stability performance of the motor are severely reduced due to the mismatch disturbance, a sliding mode speed control based on internal model (IM-SMC) for suppressing the mismatch disturbance of the permanent magnet fault-tolerant cylindrical linear motor system of the present invention is proposed. ) method to realize that the system model of this type of motor system is equivalent to a first-order inertial system after using the IM-SMC controller, ensuring that the dynamic process does not overshoot, and the system response time is directly determined by the internal model modulation coefficient, and the parameter adjustment is easy , avoiding repeated trial and error, using a new SMC method with integral terms to realize that the system state is on the sliding mode surface from the beginning, eliminating the sliding mode approach stage, and ensuring the global robust performance of the system

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