Method and System for Suppressing Switching Current Disturbance in Segmented Power Supply Long Stator Linear Motors

Abstract

This invention belongs to the field of linear motor current disturbance suppression, specifically relating to a method and system for suppressing switching current disturbances in a segmented power supply long stator linear motor. It aims to solve the problems of long switching times and large current fluctuations in existing linear motors. The invention includes: real-time tracking and acquisition of the mover position 's' of the segmented power supply long stator linear motor, and calculation of an adjustment factor 'δ' based on the current mover position 's'; applying the adjustment factor 'δ' to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during thyristor switching, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor switching process. This invention can effectively suppress the cumulative amplification of disturbance errors during the switching process of the segmented power supply long stator linear motor, achieving a rapid decrease in current and a low overshoot with a rapid increase during the switching process.

Description

Technical Field

[0001] This invention belongs to the field of linear motor current disturbance suppression, and specifically relates to a method and system for suppressing switching current disturbances in a segmented power supply long stator linear motor. Background Technology

[0002] Ultra-high-speed electromagnetic drive systems based on long-stator linear motors can achieve rapid linear acceleration of objects and have wide applications in industry, transportation, and defense. To reduce the power supply capacity and the withstand voltage of the linear motor stator segment, the long-stator linear motor needs to be divided into multiple stator segments, with multiple power supplies controlling thyristor switching based on the mover position to provide segmented power.

[0003] In order to reduce the fluctuation of the mover thrust in the long stator linear motor, it is necessary to maintain the continuity of the current amplitude and phase of each stator segment. However, the ultra-high speed electromagnetic drive has high requirements for its switching speed and electrical stress. On the one hand, the mover of the ultra-high speed electromagnetic drive system runs at a fast speed and has high requirements for switching time, usually less than 10ms. On the other hand, when the power supply of the two stator segments is switched, the nonlinear characteristics of the thyristor zero-crossing turn-off are asymmetrically connected, resulting in a large electrical stress impact such as current or voltage, which triggers the overcurrent or overvoltage protection of the converter and AC switching switch. At present, the main switching method for segmented power supply linear motors is the high-speed magnetic levitation trackside switch control strategy [1], which turns on the current of the next power supply segment 0.5s after the current of the previous power supply segment is reduced to zero. This method is quite different from the switching time requirements of the ultra-high speed electromagnetic drive system. In addition, for the segmented power supply switching of long stator linear motors [2], the current fluctuation during the switching process is reduced by increasing the power supply bus and detecting the current zero crossing point. This method increases the complexity of the power supply system, and it is also difficult to accurately detect the high-frequency current zero crossing point for ultra-high speed systems.

[0004] The following documents are technical background information related to this invention:

[0005] [1] Sun Pengkun, Ge Qiongxuan, et al. Traction control strategy for high-speed maglev train based on hardware-in-the-loop real-time simulation platform. Journal of Electrical Engineering, 2020.

[0006] [2] Zhang Mingyuan, Ma Weiming, et al., A segmented power supply strategy for linear motor considering zero current crossing, Journal of Naval University of Engineering, 2019. Summary of the Invention

[0007] To address the aforementioned problems in the prior art, namely the long switching time and large current fluctuations in existing linear motors, this invention provides a method for suppressing switching current disturbances in segmented power supply long stator linear motors. The current disturbance suppression method includes:

[0008] The position s of the mover of a segmented power supply long stator linear motor is tracked and acquired in real time.

[0009] Calculate the adjustment factor δ based on the current mover position s;

[0010] The adjustment factor δ is applied to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances and impacts during thyristor switching, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor.

[0011] In some preferred embodiments, the method for calculating the adjustment factor δ based on the current mover position s is as follows:

[0012] When the mover position s < s x At that time, the adjustment factor δ is δ0, s x The position when the mover begins to enter the current stator segment, δ0 is the maximum value of the preset adjustment factor;

[0013] When the mover position s x ≤s<s x When +b1, the adjustment factor δ gradually decreases from δ0 to δ1 at a slope a1, where a1 is the preset slope of the decrease of the adjustment factor δ, δ1 is the preset minimum value of the adjustment factor, and b1 is the preset position of the mover when the thyristor operates.

[0014] When the mover position s x +b1≤s<s x When +b2, the adjustment factor δ remains at δ1, and b2 is the preset position of the mover when the current rises;

[0015] When the mover position s x +b2≤s<s x+1 At that time, the adjustment factor δ gradually increases from δ1 to δ0 with a slope a2, s x+1 The position where the mover begins to enter the next stator segment, and a2 is the pre-set adjustment factor δ rising slope;

[0016] When the mover position s≥s x+1 At that time, the adjustment factor repeats the above process, changing between δ0 and δ1.

[0017] In some preferred embodiments, the slope a1 is greater than the slope a2.

[0018] In some preferred embodiments, the adjustment factor δ is applied to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor, and the method is as follows:

[0019] Based on the adjustment factor δ, calculate the dq axis current difference in the rotating coordinate system of the segmented power supply long stator linear motor;

[0020] Based on the dq axis current difference, calculate the dq axis proportional controller output voltage and the dq axis integral controller output voltage of the segmented power supply long stator linear motor.

[0021] Based on the adjustment factor δ, calculate the output voltage of the dq axis feedforward controller of the segmented power supply long stator linear motor;

[0022] Based on the output voltage of the dq-axis proportional controller, the output voltage of the dq-axis integral controller, and the output voltage of the dq-axis feedforward controller, disturbances and impacts during the thyristor switching process are suppressed, thereby achieving current disturbance suppression for the segmented power supply long stator linear motor.

[0023] In some preferred embodiments, the dq-axis current difference is expressed as:

[0024]

[0025] Among them, e d (k) and e q (k) represents the d-axis current difference and q-axis current difference at time k of the segmented power supply long stator linear motor, respectively. dr (k) and i qr (k) represents the pre-set d-axis and q-axis given currents at time k for the segmented power supply long stator linear motor, respectively, i df and i qf These are the d-axis feedback current and q-axis feedback current of the segmented power supply long stator linear motor, respectively.

[0026] In some preferred embodiments, the output voltage of the dq-axis proportional controller is expressed as follows:

[0027]

[0028] Among them, u pd (k+1) and u pq (k+1) represent the output voltages of the d-axis proportional controller and the q-axis proportional controller at time k+1, respectively, for the segmented power supply long stator linear motor. p This refers to the proportional controller coefficient.

[0029] In some preferred embodiments, the output voltage of the dq-axis integral controller is expressed as follows:

[0030]

[0031] Among them, u id (k+1) and u iq (k+1) and u id (k) and u iq(k) represents the output voltages of the d-axis integral controller and the q-axis integral controller at time k+1, and the output voltages of the d-axis integral controller and the q-axis integral controller at time k, respectively. i T represents the integral controller coefficient. s The step size is calculated for discretization.

[0032] In some preferred embodiments, the output voltage of the dq-axis feedforward controller is expressed as follows:

[0033]

[0034] Among them, u df (k+1) and u qf (k+1) represent the output voltages of the d-axis feedforward controller and the q-axis feedforward controller at time k+1, respectively, for the segmented power supply long stator linear motor. R s The stator resistance L of a segmented power supply long stator linear motor ls For segmented power supply of long stator linear motors, the stator leakage inductance ω s The input voltage frequency for a segmented power supply long stator linear motor.

[0035] In some preferred embodiments, the method for suppressing disturbances during the thyristor switching process is as follows:

[0036]

[0037] Among them, u ds (k+1) and u qs (k+1) represents the d-axis current disturbance suppression output voltage and q-axis current disturbance suppression output voltage at time k+1 of the segmented power supply long stator linear motor, respectively.

[0038] In another aspect, the present invention proposes a current disturbance suppression system for a segmented power supply long stator linear motor, the current disturbance suppression system comprising:

[0039] The mover position tracking module is configured to track and acquire the mover position s of the segmented power supply long stator linear motor in real time;

[0040] The adjustment factor calculation module is configured to calculate the adjustment factor δ based on the current mover position s;

[0041] The current disturbance suppression module is configured to apply the adjustment factor δ to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during the thyristor switching process and achieve current disturbance suppression during the switching of the segmented power supply long stator linear motor.

[0042] The beneficial effects of this invention are:

[0043] This invention discloses a method for suppressing current disturbances during segmented power supply of a long stator linear motor. First, an adjustment factor is calculated based on the mover position. Then, the adjustment factor is applied to the proportional, integral, and feedforward controllers to suppress disturbances during thyristor switching, thereby achieving current overshoot during the rapid switching process of the long stator linear motor with segmented power supply. Finally, simulation and comparative analysis verify that the method of this invention can effectively suppress the cumulative amplification of disturbance errors during the switching process of a segmented power supply long stator linear motor, achieving a rapid decrease in current and a rapid increase in low overshoot during the switching process. Attached Figure Description

[0044] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0045] Figure 1 This is a diagram of the segmented power supply structure of the long stator linear motor of the present invention;

[0046] Figure 2 This is a schematic diagram of the method for suppressing switching current disturbances in a segmented power supply long stator linear motor according to the present invention;

[0047] Figure 3 This is a simulation result of a traditional PI control for an embodiment of the segmented power supply long stator linear motor switching current disturbance suppression method of the present invention;

[0048] Figure 4 This is a simulation result of an embodiment of the method for suppressing switching current disturbances in a segmented power supply long stator linear motor according to the present invention, using the method of the present invention for control. Detailed Implementation

[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0051] The present invention provides a method for suppressing switching current disturbances in a segmented power supply long stator linear motor, the method comprising:

[0052] The position s of the mover of a segmented power supply long stator linear motor is tracked and acquired in real time.

[0053] Calculate the adjustment factor δ based on the current mover position s;

[0054] The adjustment factor δ is applied to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances and impacts during thyristor switching, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor.

[0055] To more clearly explain the method for suppressing switching current disturbances in a segmented power supply long stator linear motor according to the present invention, the following will be combined with... Figure 1 and Figure 2 The steps in the embodiments of the present invention will be described in detail below.

[0056] The method for suppressing switching current disturbances in a segmented power supply long stator linear motor according to the first embodiment of the present invention is described in detail below:

[0057] like Figure 1 The diagram shows the segmented power supply structure of the long stator linear motor of the present invention, including a converter, a switching switch, a stator segment, and a mover. As the mover moves rapidly, the converter u1 controls the switching switch k... 1_1 k 2_1 , ..., k n_1 For stator segment S 1_1 S 2_1 S n_1 Segmented power supply is implemented, and converter U2 controls the switching switch K. 1_2 k 2_2 , ..., k n_2 For stator segment S 1_2 S 2_2 S n_2 Segmented power supply is implemented, with continuous stator current amplitude and phase in each power supply segment, achieving stator coverage of the mover.

[0058] The position s of the mover of the segmented power supply long stator linear motor is tracked and acquired in real time. Based on the current mover position s, the adjustment factor δ is calculated, including:

[0059] When the mover position s < s x At that time, the adjustment factor δ is δ0, s x The position when the mover begins to enter the current stator segment, δ0 is the maximum value of the preset adjustment factor;

[0060] When the mover position s x ≤s<s x When +b1, the adjustment factor δ gradually decreases from δ0 to δ1 at a slope a1, where a1 is the preset slope of the decrease of the adjustment factor δ, δ1 is the preset minimum value of the adjustment factor, and b1 is the preset position of the mover when the thyristor operates.

[0061] When the mover position s x +b1≤s<s xWhen +b2, the adjustment factor δ remains at δ1, and b2 is the preset position of the mover when the current rises;

[0062] When the mover position s x +b2≤s<s x+1 At that time, the adjustment factor δ gradually increases from δ1 to δ0 with a slope a2, s x+1 The position where the mover begins to enter the next stator segment, and a2 is the pre-set adjustment factor δ rising slope;

[0063] When the mover position s≥s x+1 At that time, the adjustment factor repeats the above process, changing between δ0 and δ1.

[0064] To reduce the impact of the step response during the switching process, the slope a1 is greater than the slope a2.

[0065] The adjustment factor δ is applied to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during the thyristor switching process, thereby achieving current disturbance suppression during the segmented power supply long stator linear motor, including:

[0066] Based on the adjustment factor δ, the current difference between the d and q axes in the rotating coordinate system of the segmented power supply long stator linear motor is calculated, as shown in equation (1):

[0067]

[0068] Among them, e d (k) and e q (k) represents the d-axis current difference and q-axis current difference at time k of the segmented power supply long stator linear motor, respectively. dr (k) and i qr (k) represents the pre-set d-axis and q-axis given currents at time k for the segmented power supply long stator linear motor, respectively, i df and i qf These are the d-axis feedback current and q-axis feedback current of the segmented power supply long stator linear motor, respectively.

[0069] Based on the dq axis current difference, the output voltage of the dq axis proportional controller and the output voltage of the dq axis integral controller of the segmented power supply long stator linear motor are calculated, as shown in equations (2) and (3):

[0070]

[0071]

[0072] Among them, u pd (k+1) and u pq(k+1) represent the output voltages of the d-axis proportional controller and the q-axis proportional controller at time k+1, respectively, for the segmented power supply long stator linear motor. p For proportional controller coefficients, u id (k+1) and u iq (k+1) and u id (k) and u iq (k) represents the output voltages of the d-axis integral controller and the q-axis integral controller at time k+1, and the output voltages of the d-axis integral controller and the q-axis integral controller at time k, respectively. i T represents the integral controller coefficient. s The step size is calculated for discretization.

[0073] Based on the adjustment factor δ, the output voltage of the dq axis feedforward controller of the segmented power supply long stator linear motor is calculated as shown in equation (4):

[0074]

[0075] Among them, u df (k+1) and u qf (k+1) represent the output voltages of the d-axis feedforward controller and the q-axis feedforward controller at time k+1, respectively, for the segmented power supply long stator linear motor. R s The stator resistance L of a segmented power supply long stator linear motor ls For segmented power supply of long stator linear motors, the stator leakage inductance ω s The input voltage frequency for a segmented power supply long stator linear motor.

[0076] Based on the output voltage of the dq-axis proportional controller, the output voltage of the dq-axis integral controller, and the output voltage of the dq-axis feedforward controller, the disturbance impact during the thyristor switching process is suppressed, and the switching current disturbance suppression of the segmented power supply long stator linear motor is achieved, as shown in equation (5):

[0077]

[0078] Among them, u ds (k+1) and u qs (k+1) represents the d-axis current disturbance suppression output voltage and q-axis current disturbance suppression output voltage at time k+1 of the segmented power supply long stator linear motor, respectively.

[0079] like Figure 3 As shown, the simulation results of one embodiment of the segmented power supply long stator linear motor switching current disturbance suppression method of the present invention, using conventional PI control, are presented. Figure 3 (a) shows the current waveform of the motor's A-phase in the stationary coordinate system under a traditional PI controller. Figure 3(b) shows the current waveforms along the dq axis in the rotating coordinate system, including the current input and feedback currents. Figure 3 It is known that the zero-crossing turn-off nonlinearity of the thyristor switch causes significant current imbalance in the motor, resulting in substantial disturbances to the dq-axis current closed-loop control in the rotating coordinate system. The integrator amplifies these disturbances during switching, leading to overshoot during current recovery. As the frequency increases, the overshoot becomes more severe, reducing the safe operating range of the converter and switch, and triggering system overcurrent protection.

[0080] like Figure 4 The image shows simulation results of one embodiment of the segmented power supply long stator linear motor switching current disturbance suppression method of the present invention, controlled by the method of the present invention. Figure 4 (a) Current of motor A phase as a method for suppressing current disturbance during rapid switching. Figure 4 (b) To suppress dq-axis feed and feedback currents during rapid switching of current disturbances. Figure 4 It can be seen that the method of the present invention avoids the accumulation and amplification of errors caused by switching disturbances by adjusting the factor and multiplying the integrator during switching, and improves the dynamic performance of the control system and reduces current overshoot by using precise feedforward voltage.

[0081] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple variations are all within the protection scope of this invention.

[0082] The second embodiment of the present invention provides a segmented power supply long stator linear motor switching current disturbance suppression system, the current disturbance suppression system comprising:

[0083] The mover position tracking module is configured to track and acquire the mover position s of the segmented power supply long stator linear motor in real time;

[0084] The adjustment factor calculation module is configured to calculate the adjustment factor δ based on the current mover position s;

[0085] The current disturbance suppression module is configured to apply the adjustment factor δ to the proportional controller, integral controller, and feedforward controller of the segmented power supply long stator linear motor to suppress disturbances during the thyristor switching process and achieve current disturbance suppression during the switching of the segmented power supply long stator linear motor.

[0086] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0087] It should be noted that the segmented power supply long stator linear motor switching current disturbance suppression system provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0088] An electronic device according to a third embodiment of the present invention includes:

[0089] At least one processor; and

[0090] A memory communicatively connected to at least one of the processors; wherein,

[0091] The memory stores instructions that can be executed by the processor to implement the above-described method for suppressing switching current disturbances in a segmented power supply long stator linear motor.

[0092] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, which are executed by the computer to implement the above-described method for suppressing switching current disturbances in a segmented power supply long stator linear motor.

[0093] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the storage device and processing device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0094] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0095] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0096] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0097] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A segmented power supply long stator linear motor switching current disturbance suppression method, characterized in that, The current disturbance suppression method comprises: Real-time tracking of mover position for segmented powered long-stator linear motor ; based on the current mover position , calculate an adjustment factor ; The adjustment factor The proportional controller, integral controller and feedforward controller acting on the segmented power supply long stator linear motor suppress the disturbance impact of thyristor switching process, and realize the switching current disturbance suppression of the segmented power supply long stator linear motor. wherein the adjustment factor The proportional controller, integral controller and feedforward controller acting on the segmented power supply long stator linear motor, and the method thereof are as follows: based on the adjustment factor , calculate the difference of dq-axis currents in the rotating coordinate system of the segmented power supply long stator linear motor; Based on the dq-axis current difference, the dq-axis proportional controller output voltage and the dq-axis integral controller output voltage of the segmented power supply long stator linear motor are calculated; based on the adjustment factor , calculate the dq-axis feedforward controller output voltage of the segmented power supply long stator linear motor; Based on the dq-axis proportional controller output voltage, the dq-axis integral controller output voltage and the dq-axis feedforward controller output voltage, the disturbance impact of the thyristor switching process is suppressed, and the switching current disturbance suppression of the segmented power supply long stator linear motor is realized.

2. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 1, wherein, The current mover position , the adjustment factor The method is: when the mover position is , , is the position when the mover starts to enter the current stator segment, is the maximum value of the preset adjustment factor; when the mover position the adjustment factor from to a slope decreases gradually to , a preset adjustment factor a falling slope, a preset minimum adjustment factor, a preset thyristor operation time mover position; when the mover position the adjustment factor is maintained as , is a preset current rise when the mover position; when the mover position the adjustment factor from ramp up to , , is the position at which the mover starts to enter the next stator segment, is the preset adjustment factor ramp-up slope; When the mover position the adjustment factor repeats the above process between and .

3. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 2, wherein, the slope greater than the slope .

4. The segmented power supply long-stator linear motor current chopping disturbance rejection method of claim 1, wherein, The dq-axis current difference is represented as: ； wherein, and are the d-axis current difference and the q-axis current difference of the segmented long-stator linear motor at the instant d, and are the d-axis given current and the q-axis given current of the segmented long-stator linear motor at the instant d, and are the d-axis feedback current and the q-axis feedback current of the segmented long-stator linear motor at the instant d, and are the d-axis feedback current and the q-axis feedback current of the segmented long-stator linear motor at the instant d.

5. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 4, wherein, The dq-axis proportional controller output voltage is represented as: ； wherein, and are respectively the instantaneous d-axis proportional controller output voltage and q-axis proportional controller output voltage, is a proportional controller coefficient.

6. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 5, wherein, The dq-axis integral controller output voltage is represented as: ； wherein, and and and are the d-axis and q-axis integral controller output voltages, respectively, of a segmented powered long-stator linear motor, are the d-axis and q-axis integral controller output voltages at time t, are the d-axis and q-axis integral controller output voltages at time t, is an integral controller coefficient, is a discretization calculation step size.

7. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 6, wherein, The dq-axis feedforward controller output voltage is represented as: ； wherein, and are the instantaneous d-axis and q-axis feed forward controller output voltages, is the stator resistance of the segmented long-stator linear motor, is the stator leakage inductance of the segmented long-stator linear motor, is the input voltage frequency of the segmented long-stator linear motor.

8. The segmented power supply long-stator linear motor switching current disturbance rejection method of claim 7, wherein, The method for suppressing the disturbance impact of the thyristor switching process is: ； wherein, and are respectively a d-axis current disturbance rejection output voltage and a q-axis current disturbance rejection output voltage of the segmented power supply long stator linear motor. are respectively a d-axis current disturbance rejection output voltage and a q-axis current disturbance rejection output voltage of the segmented power supply long stator linear motor.

9. A segmented power supply long stator linear motor switching current disturbance rejection system, characterized by, The current disturbance suppression system comprises: A mover position tracking module configured to track a mover position of the segmented powered long stator linear motor in real time ; a modulating factor calculation module configured to calculate a modulating factor based on a current mover position ;​ a current disturbance suppression module configured to apply the adjustment factor The proportional controller, the integral controller and the feedforward controller act on the segmented power supply long stator linear motor, suppress the disturbance impact of the thyristor switching process, and realize the switching current disturbance suppression of the segmented power supply long stator linear motor. wherein the adjustment factor The proportional controller, integral controller and feedforward controller acting on the segmented power supply long stator linear motor, and the method thereof are as follows: based on the adjustment factor , calculate the difference of dq-axis currents in the rotating coordinate system of the segmented power supply long stator linear motor; Based on the dq-axis current difference, the dq-axis proportional controller output voltage and the dq-axis integral controller output voltage of the segmented power supply long stator linear motor are calculated; based on the adjustment factor , calculate the dq-axis feedforward controller output voltage of the segmented power supply long stator linear motor; Based on the dq-axis proportional controller output voltage, the dq-axis integral controller output voltage and the dq-axis feedforward controller output voltage, the disturbance impact of the thyristor switching process is suppressed, and the switching current disturbance suppression of the segmented power supply long stator linear motor is realized.

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