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Linear servo position tracking control based on linear matrix inequality and sliding mode control

A linear matrix, tracking controller technology, applied in the field of numerical control

Active Publication Date: 2018-06-05
东能(沈阳)能源工程技术有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] In order to overcome the nonlinear dynamic coupling problem between speed and current in conventional vector control, the present invention provides a linear servo position tracking control method based on the combination of linear matrix inequality and sliding mode control, which is suitable for permanent magnet linear synchronous motors. The electrical subsystem and the mechanical subsystem are controlled as a whole, and the sliding mode control has the advantages of fast response and strong robustness to design the controller, transforming the complex problem that is difficult to solve into a simple linear matrix inequality (LMI) problem, using MATLAB-LMI Toolbox

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  • Linear servo position tracking control based on linear matrix inequality and sliding mode control
  • Linear servo position tracking control based on linear matrix inequality and sliding mode control
  • Linear servo position tracking control based on linear matrix inequality and sliding mode control

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Embodiment Construction

[0096] Embodiments of the present invention provide a linear servo position tracking control system and method based on a combination of linear matrix inequality and sliding mode control, which can achieve good robust speed tracking performance for position commands in high-speed and high-precision situations.

[0097] Realize the concrete steps of the present invention as follows:

[0098] Step 1: The nonlinear mathematical model of the permanent magnet linear synchronous motor is established.

[0099] The axis of the permanent magnet's fundamental excitation field is taken as the d-axis, and its counterclockwise rotation of 90° electrical angle is taken as the q-axis, so that the current vector of the mover is orthogonal to the magnetic field of the stator in space. Neglecting magnetic circuit saturation, the nonlinear dynamic mathematical model can be expressed as follows:

[0100]

[0101]

[0102] ψ d =L d i d +ψ f (7)

[0103] ψ q =L q i q (8)

[0104] ...

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Abstract

The invention relates to linear servo position tracking control based on a linear matrix inequality and sliding mode control. Control designing is performed through using a mechanical subsystem and anelectrical subsystem as a whole member. A complicated problem which is hard to solve is converted to a relatively easy linear matrix inequality (LMI) problem. An Lyapunov theory is used for proving system stability. An MATLAB-LMI toolset is used for calculating a result. Offline studying is performed on periodical linear factors such as end effect and friction by means of a neural network thrustobserver for ensuring system real-time performance, and then the factors are applied to the system for observing load disturbance. Finally the invention realizes a purpose of realizing high robust tracking performance of the system.

Description

technical field [0001] The invention relates to the technical field of numerical control, in particular to a position tracking control method and device for a permanent magnet linear synchronous motor. technical background [0002] Numerical control technology is a technology that uses digital information to control the mechanical movement process of the controlled object. Numerical control equipment is a mechatronic product formed by the penetration of new technologies represented by numerical control technology into traditional manufacturing industries and emerging manufacturing industries. The most fundamental difference between modern CNC machine tools and early CNC machine tools is that their processing speed and processing accuracy have undergone tremendous changes, which have increased by nearly a thousand times respectively. Because high-speed and high-precision machining technology can greatly increase the processing rate, improve product quality and grade, and impr...

Claims

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Application Information

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IPC IPC(8): H02P21/00H02P21/13H02P25/064H02P27/08
CPCH02P21/0003H02P21/0007H02P21/0014H02P21/13H02P25/064H02P27/08H02P2207/05
Inventor 孙宜标仲原刘春芳
Owner 东能(沈阳)能源工程技术有限公司
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