Speed control method and system for permanent magnet vernier linear motor

Abstract

The invention discloses a speed control method and system for a permanent magnet vernier linear motor. The method comprises the steps of: adjusting the control gain of a sliding mode speed controllerby employing speed tracking errors to obtain a q-axis preset current; according to the difference of the speed observation value of the motor and the actual speed of the motor and the current q-axis preset current, obtaining a disturbance observation value, and employing the disturbance observation value to update the q-axis preset current; obtaining a q-axis voltage command according to the difference between the q-axis preset current and the q-axis actual current through a transfer function of a current VPI (vector proportional and integral) controller; converting the voltage command to switching signals of an IGBT in an inverter, wherein the calculation of the q-axis preset current employs a sliding mode speed controller, and the obtaining of the disturbance observation value employs anexpansion state observation value; and obtaining a q-axis voltage command by employing the current VPI controller. The method improves the robustness, the accuracy and the dynamic response of the speed control system of the linear motor.

Description

technical field [0001] The invention belongs to the field of motor servo and control, and more particularly, relates to a speed control method and system of a permanent magnet vernier linear motor. Background technique [0002] With the rapid development of a series of advanced processing and manufacturing technologies such as ultra-high-speed cutting, ultra-precision machining, and multi-axis linkage, mechanical processing has higher and higher performance requirements for machine tools. The traditional machine tool adopts the rotary motor-ball screw transmission form in the transmission mode. This transmission mode is not ideal in the dynamic characteristics and steady-state characteristics of motion control due to the influence of length limitation, mechanical friction, equipment wear and so on. . In contrast, linear motors have the characteristics of high-speed dynamic response performance, high positioning accuracy, unlimited stroke length, and low noise during operati...

AI Technical Summary

Problems solved by technology

[0007] Aiming at the defects of the prior art, the object of the present invention is to provide a permanent magnet vernier linear motor speed control method and system, aiming to solve the problem of traditional PID controllers for linear motor systems with multivariable and time-varying nonlinear characteristics. The problem of low control accuracy

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