A chaotic control method of permanent magnet linear motor based on decoupling adaptive sliding mode

Abstract

The invention provides a chaos control method of a permanent magnet linear motor based on decoupling and adaptive sliding mode, comprising the following steps: obtaining a motor state equation according to a PMLSM system mathematical model; Constructing chaotic model of permanent magnet linear synchronous motor; The maximum Lyapunov exponent of PMLSM system is calculated under different conditions. The input transformation matrix F and the state feedback matrix K are constructed to decouple the PMLSM system, and the decoupling model of the PMLSM system is obtained. Constructing virtual controlsystem; Adaptive controller is designed according to the virtual control system to control the chaos of PMLSM under the condition that some parameters of PMLSM system are uncertain. The invention provides a chaos control method of a permanent magnet linear motor based on decoupling and adaptive sliding mode, which enables the permanent magnet linear motor to quickly recover from a chaotic runningstate to a stable running state. It has the advantages of strong robustness, fast response speed and high control accuracy.

Description

technical field [0001] The invention relates to a chaotic control method of a permanent magnet linear motor. Background technique [0002] The permanent magnet linear synchronous motor realizes the direct conversion of electrical energy and mechanical energy, saves the intermediate transmission mechanism, reduces system loss, has the advantages of high precision, high speed, and fast response, and is very suitable for direct drive systems, such as direct drive wave power generation etc. Compared with traditional rotating motors, linear motors have higher nonlinearity and stronger coupling, and there are many disturbance factors, such as changes in the mass of the mover and motor parameters, disturbances in the load, detected noise, changes in the environment, side-end effect etc. Load changes, edge effects, and changes in parameters of linear motors during motion are all strong disturbances to the control system. These disturbances directly act on the linear motor without...

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Problems solved by technology

[0003] The existing control methods include improved classical PID control, simple sliding mode control and second-order sliding mode variable structure control. Although the improved classical PID control can achieve the control objective to a certain extent, when the parameters of the controlled object change and are affected by external When affected by disturbances, it cannot meet the requirements of high-performance control systems well; using a simple sliding mode variable structure control method, the research shows that the rapidity and robustness of the system have been greatly improved, but the resulting jitter phenomenon is more obvious; Using the second-order sliding mode variable structure control, through theoretical analysis and simulation results, it can be seen that the second-order sliding mode control system has strong robustness to external disturbances, and chattering can be effectively suppressed, but the second-order sliding mode control The system is relatively complex, and it is difficult to achieve the theoretical control effect in reality

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