A linear automatic door control method based on finite time control and finite time disturbance compensation

Abstract

The present invention discloses a linear automatic door control method based on finite time control and finite time interference compensation, which belongs to the intersection of electromechanics and control theory. The method solves the problems of response speed and anti-interference ability of translational automatic doors. The method comprises: developing a linear automatic door system based on a permanent magnet synchronous linear motor; outputting a reference current value through a position-speed integrated controller according to a reference position signal and a position signal acquisition value; constructing an interference observer according to a system output value and a control voltage given value, and outputting an interference value; subtracting the interference value and the feedback q-axis current value from the reference current value as inputs of a q-axis current loop controller-a finite time controller, and outputting a q-axis voltage reference value; subtracting the d-axis feedback current value from the d-axis reference signal 0 as inputs of a d-axis current loop controller, and outputting a d-axis voltage reference value. The present invention can effectively improve the response speed and anti-interference performance of a PMSLM, while improving steady-state performance.

Description

Technical Field

[0001] The invention relates to a linear automatic door control method based on finite time control and finite time interference compensation, and belongs to the intersection field of electromechanics and control theory. Background Art

[0002] Most common automatic door systems on the market are driven by rotary motors, and the "rotation-linear" motion mode conversion is achieved through conveyor belts and other means. They have some inherent disadvantages: low efficiency, large size and low safety performance, and are increasingly unsuitable for the needs of modern smart homes. The linear motion automatic door system driven by a linear motor has the following advantages:

[0003] (1) The intermediate motion conversion structure is omitted, making the system device structure simple;

[0004] (2) The simplification of the mechanical structure reduces the energy loss of the system and improves the energy transfer efficiency of the system;

[0005] (3) Eliminate various positioning errors caused by intermediate links, improve the positioning accuracy of automatic doors, and increase the reliability of the system;

[0006] (4) The system has a fast response speed, the automatic door is small in size, and the noise of the automatic door system is low.

[0007] Because PMSLM has the advantages of large thrust, low loss, fast response and good controllability, it is widely used in automatic door systems with linear motion.

[0008] However, the linear automatic door system that uses linear motors as the driving mechanism has difficulties in promoting linear motor automatic doors due to the response speed, positioning accuracy and anti-interference control problems of PMSLM.

[0009] Therefore, the present invention proposes a linear automatic door control method based on finite time control and finite time interference compensation to solve the above problems. Summary of the invention

[0010] In view of the problems existing in the above-mentioned prior art, the present invention provides a linear automatic door control method based on finite time control and finite time interference compensation, thereby solving the above-mentioned technical problems.

[0011] In order to achieve the above object, the technical solution adopted by the present invention is: a linear automatic door control method based on finite time control and finite time interference compensation, comprising, characterized in that the method comprises the following steps:

[0012] Step 1: Develop a linear automatic door system based on PMSLM; the system includes an automatic door body, a machine cabinet is arranged on the top of the automatic door body, Akribis's PMSLM is installed under the machine cabinet, the PMSLM is composed of a stator and a mover, a door body is installed under the mover of the PMSLM, and the door body is composed of a door frame, glass and a door handle;

[0013] Step 2: Design a finite time position controller. Based on step 1 and the mathematical model of PMSLM, establish i d =0 mode vector control architecture, set the reference position of PMSLM, and make a difference with the actual position of PMSLM, design the finite time position controller of PMSLM, and use the difference between the reference position and the actual position as the input of the finite time position loop controller;

[0014] Step 3: The output of the finite time position controller designed in step 2 is the reference speed value, which is subtracted from the actual position value of the PMSLM collected, and the finite time speed controller of the PMSLM is designed, and the difference between the reference speed value and the actual speed value is used as the input of the finite time speed controller;

[0015] Step 4: Design a finite-time disturbance observer, and use the collected q-axis current value and speed value as the input of the finite-time disturbance observer to observe the speed and disturbance of the permanent magnet synchronous motor;

[0016] Step 5: Design a finite-time q-axis current controller. The output of the finite-time speed controller designed in step 3 is the reference q-axis current. Subtract the disturbance and feedback q-axis current value output by the finite-time disturbance observer designed in step 4. The difference is used as the input of the finite-time q-axis current controller, and the output is the q-axis reference voltage value u q ;

[0017] Step 6: Design a finite-time d-axis current controller to As the d-axis reference signal, it is subtracted from the feedback d-axis current value, and the difference is used as the input of the d-axis current controller, and the output is the d-axis reference voltage value u d ;

[0018] Step 7: Based on the q-axis reference voltage value and d-axis voltage value output from step 5 and step 6, the three-loop vector control of the motor's current, speed, and position is achieved through inverse Park transformation, space vector pulse width modulation (SVPWM), and inverter.

[0019] Furthermore, the step 2 is specifically as follows:

[0020] Assume that the PMSLM: core saturation is ignored; eddy current and hysteresis losses are ignored; there is no damping winding on the rotor, and the damping effect of the permanent magnet is ignored; the waveform of the induced electromotive force in the phase winding is a sine wave;

[0021] Adopt i d = 0 control strategy, then the voltage equation of the surface-mounted PMSLM in the dq synchronous rotating coordinate system is:

[0022]

[0023] In the formula, R s --resistance;

[0024] u d 、u q ——phase voltage of virtual winding in dq coordinate system;

[0025] i d 、i q ——Phase current of virtual winding in dq coordinate system;

[0026] ψ d , q ——Two-phase flux in dq coordinate system;

[0027] ω e ——Electrical angular velocity. Since each pole pitch τ corresponds to an electrical angle π, the electrical angular velocity ω can be obtained e The relationship between the velocity v and the rotor speed is:

[0028]

[0029] Stator flux equation

[0030]

[0031] L d , L q ——The inductance of the virtual winding in the dq coordinate system, L d =L q .

[0032] Electromagnetic thrust equation

[0033] The electromagnetic thrust of the linear motor corresponds to the electromagnetic torque of the rotary motor. Its expression can be obtained by further processing the expression of the electromagnetic torque:

[0034]

[0035] Where r is the rotation radius of the rotating permanent magnet synchronous motor, p n is the pole logarithm, since The expression of electromagnetic thrust is:

[0036]

[0037] When the motor does not have salient pole effect, according to L d=L q The expression can be further simplified.

[0038] Movement formula

[0039]

[0040] s=∫vdt (7)

[0041] M——the mass of the motor rotor;

[0042] B——viscous friction coefficient;

[0043] F e ——Electromagnetic thrust;

[0044] F L - Motor load;

[0045] f0——static friction;

[0046] s——motor position;

[0047] Finite-time position controller design:

[0048] According to formula (7), the state variable is defined as

[0049] x1=s * -s (8)

[0050] Among them, s * is the reference position, s is the actual position;

[0051] Then the finite time position controller can be set as

[0052]

[0053] Among them, v * is the output of the finite time position controller, is the reference speed, k1>0,

[0054]

[0055] Furthermore, the step 3 is specifically as follows:

[0056] According to formula (9), the state variable is defined as

[0057] x2=v * -v (10)

[0058] Where v is the actual speed;

[0059] Then the finite-time speed controller can be set as

[0060]

[0061] in, is the output of the finite time speed controller, is the q-axis reference current value, k2>0, 0<α2<1.

[0062] Furthermore, the step 4 is specifically as follows:

[0063] From the equation of motion of PMSLM, we can get

[0064]

[0065] Formula (12) ignores static friction and sets f = F L +Bv;

[0066] The finite-time disturbance observer for equation (12) is designed as follows:

[0067]

[0068] Where z1 is the observed value of velocity v, z2 is the estimated value of disturbance f, β1>0, β2>0, 0<α3<1,0<α4<1.

[0069] Furthermore, the step 5 is specifically as follows:

[0070] The q-axis reference current obtained in step 3 is subtracted from the collected q-axis current, and then subtracted from the total disturbance z2 observed by the disturbance observer to convert it into a current value, which is used as the input of the q-axis finite time controller, and the output is the q-axis reference voltage.

[0071] Defining state variables

[0072]

[0073] Among them, i q is the actual collected q-axis current value.

[0074] Then the q-axis finite time controller is set to

[0075]

[0076] Among them, k3>0, 0<α5<1.

[0077] Furthermore, the step 6 is specifically as follows:

[0078] use The control signal of the d-axis is collected, and the d-axis finite time controller is designed.

[0079] Defining state variables

[0080]

[0081] Among them, i d is the collected d-axis current;

[0082] Then the d-axis finite time controller is set to

[0083]

[0084] Among them, u d is the d-axis reference voltage, k4>0, 0<α6<1.

[0085] Furthermore, the step 7 is specifically as follows:

[0086] According to the q-axis reference voltage obtained in step 5 and the d-axis reference voltage obtained in step 6, input to the inverse Park transform. α and u β As the input of SVPWM, SVPWM outputs 6 PWM signals to the inverter, and the inverter outputs three voltage signals to PMSLM to achieve the positioning of PMSLM, thereby realizing the action of the linear automatic door.

[0087] The beneficial effects of the present invention are:

[0088] Compared with the prior art, the present invention designs a PMSLM linear automatic door system based on Akribis, and designs a control method of finite time control and finite time interference compensation for it, which improves the response speed and anti-interference ability of the system, thereby improving the positioning accuracy of the linear automatic door system.

[0089] (1) Compared with the traditional linear door control system, the present invention proposes a PMSLM linear automatic door system based on Akribis, which effectively improves the system efficiency and positioning accuracy and simplifies the system structure.

[0090] (2) Compared with the traditional proportional-integral control method, the proposed finite-time position controller, finite-time velocity controller, q-axis finite-time controller and d-axis finite-time controller shorten the convergence time. In practical applications, on the one hand, it improves the system response speed, and on the other hand, it improves the robustness of the system.

[0091] (3) The finite-time disturbance observer proposed in the present invention enhances the anti-interference ability of the system and improves the robustness of the system. When the motor parameters of the PMSLM system change and the load suddenly changes due to changes in the operating environment, the automatic door can still operate smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 It is a schematic diagram of the structure of the linear automatic door system of the present invention;

[0093] Figure 2 It is a control block diagram of a linear automatic door based on finite time control and finite time interference compensation of the present invention;

[0094] Figure 3 The finite time disturbance observer of the present invention has the input of the collected q-axis current and the collected speed, and after calculation by formula (14), the output disturbance value is fed forward to the formula of the q-axis reference current;

[0095] Figure 4 It is a schematic flow chart of the control method of the present invention;

[0096] Figure 5 It is the position tracking curve when the reference position of the present invention is 0.2m;

[0097] Figure 6 It is a schematic diagram of the tracking value and actual disturbance value structure of the finite time disturbance observer of the present invention;

[0098] Figure 7 is the speed tracking curve of the PMSLM of the present invention;

[0099] Figure 8 It is a schematic diagram of the ABC three-phase current tracking curve of the present invention;

[0100] In the figure: 1. unit cabinet, 2. PMSLM, 3. stator, 4. mover, 5. door body, 6. door frame, 7. glass, 8. door handle. DETAILED DESCRIPTION

[0101] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0102] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0103] like Figure 1 As shown, the linear automatic door system based on PMSLM includes:

[0104] An assembly cabinet 1 is arranged on the top of the automatic door body, and Akribis's PMSLM 2 is installed under the assembly cabinet. The PMSLM is composed of a stator 3 and a mover 4. A door body 5 is installed under the mover 4 of the PMSLM, and the door body 5 is composed of a door frame 6, a glass 7 and a door handle 8.

[0105] like Figure 2 As shown, the automatic door control method based on finite time control and finite time interference compensation includes:

[0106] Assume that: ① the core saturation is ignored; ② eddy current and hysteresis loss are ignored; ③ there is no damping winding on the rotor and the damping effect of the permanent magnet is ignored; ④ the induced electromotive force waveform in the phase winding is a sine wave. d = 0 control strategy, then the voltage equation of the surface-mounted PMSLM in the dq synchronous rotating coordinate system is:

[0107]

[0108] In the formula, R s --resistance;

[0109] u d 、u q ——phase voltage of virtual winding in dq coordinate system;

[0110] i d 、i q ——Phase current of virtual winding in dq coordinate system;

[0111] ψ d , q ——Two-phase flux in dq coordinate system;

[0112] ω e ——Electrical angular velocity. Since each pole pitch τ corresponds to an electrical angle π, the electrical angular velocity ω can be obtained e The relationship between the velocity v and the rotor speed is:

[0113]

[0114] Stator flux equation

[0115]

[0116] L d , L q ——The inductance of the virtual winding in the dq coordinate system, L d =L q .

[0117] Electromagnetic thrust equation

[0118] The electromagnetic thrust of the linear motor corresponds to the electromagnetic torque of the rotary motor. Its expression can be obtained by further processing the expression of the electromagnetic torque:

[0119]

[0120] Where r is the rotation radius of the rotating permanent magnet synchronous motor, p n is the pole logarithm, since The expression of electromagnetic thrust is:

[0121]

[0122] When the motor does not have salient pole effect, according to L d =L q The expression can be further simplified.

[0123] Movement formula

[0124]

[0125] s=∫vdt (7)

[0126] M——the mass of the motor rotor;

[0127] B——viscous friction coefficient;

[0128] F e ——Electromagnetic thrust;

[0129] F L - Motor load;

[0130] f0——static friction;

[0131] s——motor position.

[0132] Finite-time position controller design:

[0133] According to formula (7), the state variable is defined as

[0134] x1=s * -s (8)

[0135] Among them, s * is the reference position and s is the actual position.

[0136] Then the finite time position controller can be set as

[0137]

[0138] Among them, v * is the output of the finite time position controller, is the reference speed, k1>0, 0<α1<1.

[0139] According to formula (9), the state variable is defined as

[0140] x2=v * -v (10)

[0141] where v is the actual velocity.

[0142] Then the finite-time speed controller can be set as

[0143]

[0144] in, is the output of the finite time speed controller, is the q-axis reference current value, k2>0, 0<α2<1.

[0145] From the equation of motion of PMSLM, we can get

[0146]

[0147] Formula (12) ignores static friction and sets f = F L +Bv.

[0148] The finite-time disturbance observer for equation (12) is designed as follows:

[0149]

[0150] Where z1 is the observed value of velocity v, z2 is the estimated value of disturbance f, β1>0, β2>0, 0<α3<1,0<α4<1.

[0151] The current value is converted into the q-axis reference current obtained by subtracting the collected q-axis current and then subtracting the total disturbance z2 observed by the disturbance observer. It is used as the input of the q-axis finite time controller and the output is the q-axis reference voltage.

[0152] Defining state variables

[0153]

[0154] Among them, i q is the actual collected q-axis current value.

[0155] Then the q-axis finite time controller is set to

[0156]

[0157] Among them, k3>0, 0<α5<1.

[0158] use The control signal of d-axis is collected, and the d-axis finite time controller is designed.

[0159] Defining state variables

[0160]

[0161] Among them, id is the collected d-axis current.

[0162] Then the d-axis finite time controller is set to

[0163]

[0164] Among them, u d is the d-axis reference voltage, k4>0, 0<α6<1.

[0165] According to the obtained q-axis reference voltage and d-axis reference voltage, input to the inverse Park transformation, after the inverse Park transformation, u α and u β As the input of SVPWM, SVPWM outputs 6 PWM signals to the inverter, and the inverter outputs three voltage signals to PMSLM to achieve the positioning of PMSLM, thereby realizing the action of the linear automatic door.

[0166] like Figure 3 As shown, the finite-time disturbance observer includes:

[0167] The input of the finite-time disturbance observer is the collected q-axis current and the collected speed. After calculation by formula (14), the output disturbance value is fed forward to the q-axis reference current.

[0168] like Figure 4 As shown, the development process of the present invention includes:

[0169] Develop a linear automatic door system based on PMSLM. According to the mathematical model of PMSLM, construct the vector control system of PMSLM. Based on this, construct the finite time position controller and the finite time disturbance observer respectively. After the finite time position controller, construct the finite time speed controller. Based on the finite time position controller and the finite time disturbance observer, construct the q-axis finite time current controller. According to i d =0 control mode to construct the d-axis finite-time current controller, and further optimize the linear automatic door control system by continuously optimizing and modulating the parameters of each finite-time controller and disturbance observer.

[0170] During the implementation of the present invention, the system includes a linear automatic door system design based on PMSLM, a finite time position controller, a finite time speed controller, a q-axis finite time controller, a d-axis finite time controller, a finite time disturbance observer, an inverse Park transform, an SVPWM modulation module, an inverter, a PMSLM, a Clark transform, a Park transform, a current sensor and a position sensor.

[0171] Reference Figure 5-Figure 8, the normal operation of the linear automatic door is achieved through the vector-controlled PMSLM. In the vector-controlled PMSLM system, the difference between the reference position signal and the position signal output by the position sensor of the PMSLM is used as the input of the finite-time position controller, and the output of the finite-time position controller is the reference speed signal; the difference between the reference speed signal and the speed signal output by the position sensor is used as the input of the finite-time speed controller, and the output of the finite-time speed controller is the q-axis reference current signal; the q-axis current collected by the current sensor and the speed signal collected by the position sensor are used as the input of the finite-time disturbance observer, and the output of the finite-time disturbance observer is the disturbance value; the difference between the q-axis reference current signal and the disturbance value and the collected q-axis current is used as the input of the q-axis current controller, and the output of the q-axis current controller is the q-axis reference voltage; the difference between 0 and the collected d-axis current is used as the input of the d-axis current controller, and the output of the d-axis current controller is the d-axis reference voltage; the d-axis reference voltage and the q-axis reference voltage are input to the inverse Park transform, and the u after the inverse Park transform is α and u β As the input of SVPWM, SVPWM outputs 6 PWM signals to the inverter, and the inverter outputs three voltage signals to PMSLM to achieve the positioning of PMSLM, thereby realizing the action of the linear automatic door.

[0172] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A linear automatic door control method based on finite time control and finite time interference compensation, The method comprises the following steps: Step 1: Develop a linear automatic door system based on PMSLM; the system includes an automatic door body, a machine cabinet is arranged on the top of the automatic door body, Akribis's PMSLM is installed under the machine cabinet, the PMSLM is composed of a stator and a mover, a door body is installed under the mover of the PMSLM, and the door body is composed of a door frame, glass and a door handle; Step 2: Design a finite time position controller. Based on step 1 and the mathematical model of PMSLM, establish i d =0 mode vector control architecture, set the reference position of PMSLM, and make a difference with the actual position of PMSLM, design the finite time position controller of PMSLM, and use the difference between the reference position and the actual position as the input of the finite time position loop controller; Step 3: The output of the finite time position controller designed in step 2 is the reference speed value, which is subtracted from the collected actual speed value of the PMSLM to design the finite time speed controller of the PMSLM, and the difference between the reference speed value and the actual speed value is used as the input of the finite time speed controller; Step 4: Design a finite-time disturbance observer, and use the collected q-axis current value and speed value as the input of the finite-time disturbance observer to observe the speed and disturbance of the permanent magnet synchronous motor; Step 5: Design a finite-time q-axis current controller. The output of the finite-time speed controller designed in step 3 is the reference q-axis current. Subtract the disturbance and feedback q-axis current value output by the finite-time disturbance observer designed in step 4. The difference is used as the input of the finite-time q-axis current controller, and the output is the q-axis reference voltage value u q ; Step 6: Design a finite-time d-axis current controller to As the d-axis reference signal, it is subtracted from the feedback d-axis current value, and the difference is used as the input of the d-axis current controller, and the output is the d-axis reference voltage value u d ; Step 7: Based on the q-axis reference voltage value and d-axis voltage value output from step 5 and step 6, the three-loop vector control of the motor's current, speed, and position is achieved through inverse Park transformation, space vector pulse width modulation, and inverter.

2. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 2 is specifically as follows: Assume that the PMSLM: core saturation is ignored; eddy current and hysteresis losses are ignored; there is no damping winding on the rotor, and the damping effect of the permanent magnet is ignored; the waveform of the induced electromotive force in the phase winding is a sine wave; Adopt i d = 0 control strategy, then the voltage equation of the surface-mounted PMSLM in the dq synchronous rotating coordinate system is: Where, Rs——resistance; u d 、u q ——phase voltage of virtual winding in dq coordinate system; i d 、i q ——Phase current of virtual winding in dq coordinate system; ψ d , q ——Two-phase flux in dq coordinate system; ω e ——Electrical angular velocity; Since each pole pitch τ corresponds to an electrical angle π, the electrical angular velocity ω can be obtained e The relationship between the velocity v and the rotor speed is: Stator flux equation L d , L q ——The inductance of the virtual winding in the dq coordinate system, L d =L q； Electromagnetic thrust equation The electromagnetic thrust of the linear motor corresponds to the electromagnetic torque of the rotary motor. Its expression can be obtained by further processing the expression of the electromagnetic torque: Where r is the rotation radius of the rotating permanent magnet synchronous motor, p n is the pole logarithm, since The expression of electromagnetic thrust is: When the motor does not have salient pole effect, according to L d =L q The expression can be further simplified; Movement formula s=∫vdt (7) M——the mass of the motor rotor; B——viscous friction coefficient; F e ——Electromagnetic thrust; F L - Motor load; f0——static friction; s——motor position; Finite-time position controller design: According to formula (7), the state variable is defined as x1=s * -s (8) Among them, s * is the reference position, s is the actual position; Then the finite time position controller can be set as Among them, v * is the output of the finite time position controller, is the reference speed, k1>0, 3. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 3 is specifically as follows: According to formula (9), the state variable is defined as x2=v * -v (10) Among them, v * is the output of the finite-time position controller, v is the actual velocity; Then the finite-time speed controller can be set as in, is the output of the finite time speed controller, which is the reference current value of the q axis, k2>0, sig α2 (x2)=sign(x2)|x2| α2 , 0<α2<1.

4. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 4 is specifically as follows: From the equation of motion of PMSLM, we can get Where τ is the pole distance, i q is the q-axis current value, F L is the motor load, B is the viscous friction coefficient, equation (12) ignores the static friction, and f = F L +Bv; The finite-time disturbance observer for equation (12) is designed as follows: Where z1 is the observed value of velocity v, z2 is the estimated value of disturbance f, β1>0, β2>0, 0<α3<1,0<α4<1.

5. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 5 is specifically as follows: The q-axis reference current obtained in step 3 is subtracted from the collected q-axis current, and then subtracted from the total disturbance z2 observed by the disturbance observer to convert it into a current value, which is used as the input of the q-axis finite time controller, and the output is the q-axis reference voltage; Defining state variables in, is the q-axis reference current value, z2 is the estimated value of the disturbance f, i q is the actual collected q-axis current value; Then the q-axis finite-time controller is set to Among them, k3>0, 0<α5<1.

6. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 6 is specifically as follows: use The control signal of the d-axis is collected, and the d-axis finite time controller is designed. Defining state variables Among them, i d is the collected d-axis current; Then the d-axis finite time controller is set to Among them, u d is the d-axis reference voltage, k4>0, 0<α6<1.

7. A linear automatic door control method based on finite time control and finite time interference compensation according to claim 1, characterized in that: The step 7 is specifically as follows: According to the q-axis reference voltage obtained in step 5 and the d-axis reference voltage obtained in step 6, input to the inverse Park transform. α and u β As the input of SVPWM, SVPWM outputs 6 PWM signals to the inverter, and the inverter outputs three voltage signals to PMSLM to achieve the positioning of PMSLM, thereby realizing the action of the linear automatic door.

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