48 results about "Permanent magnet linear motor" patented technology

The present invention discloses a multi-objective optimization method and system for a cylindrical permanent magnet linear motor based on NSGA-II. A sensitive parameter algorithm is used to construct a motor optimization objective function. A two-dimensional motor model is constructed according to the motor optimization objective function and the motor size. Then, motor-related data is derived from the two-dimensional motor model. A bagging algorithm is used for fitting training to obtain a training model with a higher degree of fit between training values ​​and target values. Finally, an optimal value interval of the motor optimization objective is determined according to the training model, and the NSGA-II algorithm is used to optimize the optimal interval to obtain an optimal solution for multi-objective optimization, thereby realizing multi-objective optimization of the motor and outputting a Pareto front solution set of the optimized output power and efficiency, as well as various optimization parameters.

The invention discloses a transverse magnetic flux linear motor adopting a Y-shaped iron core and a Halbach array, belongs to the field of permanent magnet linear motor design, and aims at solving the problems that a traditional transverse magnetic flux linear motor is low in permanent magnet utilization rate, large in magnetic leakage and insufficient in power density. The device comprises a primary part and a secondary part, the primary part comprises stator iron cores which are sequentially arranged in the axial direction, each stator iron core is provided with three armature modules which are evenly distributed in the circumferential direction, and each armature module comprises long armature teeth, short armature teeth and armature windings. The tail ends of the long and short teeth adopt an inclined air gap and magnetism gathering pole shoe design; the secondary part comprises a Y-shaped secondary pole iron core and a Halbach permanent magnet array on the surface of the Y-shaped secondary pole iron core, and the permanent magnet array is divided into three areas in the circumferential direction, and the three areas correspond to the three-phase armature modules of the primary part respectively; the permanent magnets in each area are formed by staggering N poles and S poles in the axial direction, and the adjacent areas are staggered in the axial direction.

This invention discloses a harmonic suppression control method for a resonant-cascaded active disturbance rejection permanent magnet linear motor (PMLM) based on a positioning force model, belonging to the field of PMLM control technology. Addressing the problems of incomplete periodic harmonic suppression, poor robustness to unknown disturbances, and insufficient synergy between resonance and active disturbance rejection, this invention embeds the positioning force model into the state-space equation of the active disturbance rejection controller and embeds the resonant controller into the second-stage observation channel of a two-stage extended state observer, constructing a three-layer collaborative architecture of model feedforward compensation, resonant frequency selection suppression, and extended state observer broadband estimation. The positioning force model actively compensates for known harmonic disturbances, the embedded resonant controller accurately suppresses residual periodic components, and the extended state observer compensates for nonlinear and aperiodic disturbances in real time. This invention achieves full-link collaborative suppression of positioning force harmonics, inductor asymmetry harmonics, and unknown disturbances in PMLMs under low-speed, high-speed, and variable-speed conditions, significantly reducing current harmonics and improving system stability and control accuracy. Simulation results show that this control method can achieve high-precision servo control of PMLMs.

The invention discloses an end effect suppression device, a design method and a cylindrical permanent magnet linear motor, and relates to the technical field of linear motors, the end effect suppression device comprises a magnetic circuit compensation structure installed at at least one end of a primary motor; the magnetic circuit compensation structure consists of at least two layers of sleeves which are concentrically nested and are made of a high-permeability material, and an axial guide mechanism is arranged between adjacent sleeve layers, so that the inner-layer sleeve can slide along the axial direction of the motor relative to the outer-layer sleeve; the outermost layer of sleeve is fixedly connected with the end part of the primary, and the innermost layer of sleeve is arranged to be capable of keeping coupling with the secondary in the operation process of the motor, so that continuous magnetic circuit connection is formed among the secondary, the magnetic circuit compensation structure and the primary, and an air gap magnetic field at the end part of the primary is guided and reconstructed. According to the invention, the end magnetic field distortion and magnetic resistance are directly suppressed from the physical level, and the output stability, control precision and environmental adaptability of the motor are improved.

The invention discloses a permanent magnet linear motor and a primary structure thereof, and the primary structure comprises a magnetism gathering center body which is made of a magnetic material and is in a preset regular shape; the plurality of silicon steel sheet superposition bodies are arranged on the magnetism gathering center body in a sleeving manner and are sequentially and uniformly distributed in the length direction of the magnetism gathering center body, so that a plurality of wire slots are formed in the magnetism gathering center body; at least one side face of the silicon steel sheet stacked body is a magnetism gathering side face used for being connected with a secondary structure, and each magnetism gathering side face is provided with magnetic steel. And the plurality of coils are respectively arranged in the wire slots and are wound on the magnetism gathering center body. According to the technical scheme, the end length and magnetic flux leakage can be effectively reduced, and the efficiency and the power factor of the linear motor are improved.

The invention relates to a high-speed permanent magnet linear motor test system and method, and the system comprises a secondary device which bears and fixes a linear motor secondary, a primary device which is disposed above the secondary device and is used for bearing and fixing a linear motor primary, the primary device can vertically ascend and descend relative to the secondary device, and a sensing unit is disposed on the primary device. The sensing unit is used for acquiring at least one acting force of transverse thrust, normal thrust and longitudinal thrust generated by the linear motor. According to the high-speed permanent magnet linear motor test system and method provided by the invention, the thrust ratio of the linear motor in each direction during static load can be automatically measured, and the air gap can be automatically adjusted. Test of linear motors of different models and different sizes is fully considered in the structural design, the application range is wide, and operation is convenient.

A cylindrical submersible oil horizontal-flux permanent magnet linear motor belongs to the technical field of linear motors. Four primary salient pole teeth are provided on the inner circular surfaces of the first and second yokes of the primary iron core. The first and second primary iron cores are coaxially fixedly connected and have an installation angle difference of 60°. One pair of the primary salient pole teeth of the first and second primary iron cores overlap in position, and the other pair of primary salient pole teeth are staggered in position. Windings are installed on the staggered primary salient pole teeth. Six secondary salient pole teeth are evenly distributed on the outer circular surface of the yoke of the first secondary iron core. Four secondary rectangular grooves are opened on the end surface of the yoke of the first secondary iron core. Permanent magnets are embedded in the secondary rectangular grooves. A plurality of the first and second secondary iron cores are alternately arranged and coaxially fixedly connected. A secondary iron core is fixedly installed on the barrel shaft. The primary structure of the motor is sleeved outside the secondary iron core. An air gap is provided between the secondary salient pole teeth and the primary salient pole teeth. At the initial position, the primary salient pole teeth of the first primary iron core are aligned with the secondary salient pole teeth. The motor of the present invention uses less permanent magnets, has a high utilization rate of permanent magnets, and has low magnetic leakage.

The utility model discloses a modularized splicable U-shaped permanent magnet linear motor stator, which belongs to the technical field of electrical machinery and comprises a plurality of transversely spliced U-shaped components, a first limiting plate and a second limiting plate are respectively inserted into the outer sides of the U-shaped components at two ends, a double-end swallow-tail-shaped key is inserted into the inner side of each U-shaped component, and the double-end swallow-tail-shaped key is inserted into the outer side of each U-shaped component. And a permanent magnet is clamped between the double-end swallow-tail-shaped keys. According to the modularized splicable U-shaped permanent magnet linear motor stator, the length of the stator can be adjusted through modularized splicing, different movement stroke requirements can be met, the assembly efficiency is improved, and transportation and storage are convenient; through cooperation of the dovetail grooves and the dovetail strips, installation and pre-tightening of the permanent magnets are more convenient and reliable, positioning is more accurate, and meanwhile the permanent magnets are more suitable for high-temperature operation.

The utility model discloses a permanent magnet narrow-band linear sorting machine which comprises a plurality of supporting steel frames, the supporting steel frames are arranged up and down, a double-edge sealing plate is fixedly connected between the supporting steel frame arranged on the upper portion and the supporting steel frame arranged on the lower portion, and a transparent protection plate is arranged on the double-edge sealing plate. According to the sorting device, the permanent magnet linear motor of the driving assembly can drive and convey the sorting assemblies, the sorting assemblies annularly move through the driving assembly and can drive objects to be conveyed, and when the objects are conveyed to a preset position, the conveying belts on the sorting assemblies can transversely convey the objects, so that sorting is achieved; compared with a traditional sorting device, the multiple sorting assemblies are connected, a transmission belt of the sorting assemblies is narrow, accurate sorting can be achieved, the device is driven by the permanent magnet linear motor, and compared with a traditional driving mode, the sorting assemblies can move more stably.

The utility model discloses a double -sided permanent -magnetic linear motor, including the rotor structure and stator structure. The rotor structure includes rotor yoke part and a plurality of rotor units, and the rotor unit includes rotor tooth part, winding, pole shoe part and first permanent magnet, and the vertical one end of pole shoe part is equipped with the first installation slot, and first permanent magnet fixed mounting is in the first installation slot, and the stator structure includes stator yoke part, a plurality of stator tooth parts and a plurality of second permanent magnets, and stator tooth part is protruding in the vertical one end of stator yoke part, and the second installation slot is defined between every two stator tooth parts, and second permanent magnet fixed mounting is in the second installation slot, and the first chamfer structure is equipped with in each edge of its outside of pole shoe part respectively and in each edge of the slot mouth of first installation slot, and the second chamfer structure is equipped with in each edge of stator tooth part. The utility model can make the thrust density of linear motor greatly increase, to help increasing the thrust of linear motor.

The invention relates to the technical field of automobile chassis control, in particular to a construction method of a high-performance robust controller of an automobile electromagnetic active suspension, which comprises the following steps of: forming an electromagnetic actuator system by taking a 2r / 2s coordinate transformation module, a voltage vector and switching signal comparison module, an inverter module, a permanent magnet linear motor and a 3s / 2r coordinate transformation module as a whole; establishing a mathematical model of the electromagnetic actuator system under the d-q rotating coordinate system; constructing a model predictive control alternative voltage vector module; constructing a robust prediction model module; constructing a parameter adaptive module; constructing a parameter-free cost function module; and a high-performance robust controller of the electromagnetic actuator system is constructed. According to the method, the dynamic response of an electromagnetic actuator system is improved through finite set model predictive control, a robust predictive model is designed to eliminate a permanent magnet flux linkage parameter, a parameter-free cost function is designed accordingly, the cost function only comprises a factor Q related to an inductance parameter, and the parameter robustness of finite set model predictive control is greatly improved.

The utility model relates to motor technical field especially relates to a kind of excitation type series excitation linear motor, including shell and its inside stator coil and motional coil and the drive shaft axially slidingly connected in shell. Limiting piece that shell is equipped with limit the circumferential movement of drive shaft, the first end of drive shaft is connected with motional coil by penetrating into shell interior, and the second end of drive shaft penetrates out shell exterior. Stator coil is set in the outside of motional coil, and there is air gap between the two, and the series excitation mode connection between the two, the excitation magnetic field coupling between stator coil and motional coil makes motional coil drive shaft linear motion, compared with the existing permanent magnet linear motor, no longer rely on permanent magnet to form magnetic field, effectively reduce the manufacturing cost of motor, avoid the assembly and failure problem related with permanent magnet, and with high thrust density, application range is wider, especially can be applied to the field such as needleless injection and electromagnetic riveting of higher thrust intensity requirement.

The present invention discloses a sensorless control method for a permanent magnet linear motor for launching in the full speed range, including: taking a double-three-phase permanent magnet linear synchronous motor for launching as the control object, establishing a control model in a three-phase stationary coordinate system and a control model in a VSD coordinate system; when the mover acceleration command a meets the conditions, the motor is started statically and operates in a low-speed open-loop manner; when the motor runs to a predetermined speed, it switches to an adaptive sensorless closed-loop control strategy, and the position and speed of the motor are estimated through an adaptive LQR-KF observer, ensuring that the motor system operates reliably and stably up to the maximum launch speed; when the motor runs to the maximum launch speed, it quickly enters a deceleration state, and a control strategy of position open-loop and current closed-loop is adopted to ensure that the motor brakes quickly and stably; it not only ensures the estimation accuracy of the position observer, but also provides guidance for the sensorless closed-loop control of the electromagnetic launch motor.

The invention provides a super transient impulse permanent magnet linear motor, and relates to the technical field of permanent magnet motors. The motor comprises a two-phase winding edge (winding edge for short) and a magnetic steel excitation edge (magnetic steel edge for short), and when the winding edge serves as a rotor, the magnetic steel edge serves as a stator; and vice versa; wherein the length of the stator meets the requirement of the mechanical motion length, and the length of the rotor is determined according to the impulse required by the load; a two-phase (90-degree electrical angle) variable-frequency power supply is connected to the winding side, mutual inductance between armature windings is eliminated, the transient response and the maximum thrust capacity of the armature windings are greatly improved, and super-transient linear motion of the rotor is achieved.

The application provides a kind of hybrid magnetic circuit linear rotary permanent magnet motor magnetic field decoupling control system and method, the hybrid magnetic circuit linear rotary permanent magnet motor has the ability of independent driving and simultaneous driving of linear part and rotary motion part to realize helical motion;Including a stator and a rotor;Stator includes two sets of windings, respectively for rotary and linear motion control;Rotary motion part adopts switched reluctance motor structure, linear part adopts permanent magnet linear motor structure, two drive parts share stator teeth and rotor teeth, and nine half-bridge power converters are used for driving control, wherein three half-bridge drivers drive and control a set of windings, and the remaining six half-bridge drivers drive and control another set of windings.The application can not only suppress the periodic fluctuation of speed caused by coupling and reduce the position error, but also will not cause the distortion of dynamic response of original linear active disturbance rejection controller and other frequency band gain outside the resonance frequency.

The invention discloses a method for reducing the cogging force of a permanent magnet linear motor, and the method comprises the steps: fusing an edge end tooth with a first tooth based on an air gap magnetic conductance equivalence principle, and achieving the parallel connection on a magnetic circuit. And the width of the first lengthened tooth is ensured to be the same as that of other teeth, and the length of the first lengthened tooth is changed, so that the cogging force of the linear motor can be greatly reduced without side end teeth, and the running stability of the motor is improved. Meanwhile, the method is suitable for any long-primary permanent magnet linear motor matched with a pole slot. In addition, the method has fewer motor size parameters, and compared with an edge end tooth scheme, the method greatly reduces the optimal time of the motor.

This invention proposes a control system for a double-layer vibration isolation device, comprising: a tubular permanent magnet linear motor, a first damping component, an intermediate raft, a second damping component, and a vibration isolation platform arranged sequentially along the direction away from the hull surface; the intermediate raft is mounted on the hull surface via the tubular permanent magnet linear motor and the first damping component, and a first displacement sensor is mounted on the intermediate raft; the vibration isolation platform is mounted on the side of the intermediate raft away from the hull surface via the second damping component, and a second displacement sensor is mounted on the vibration isolation platform; the tubular permanent magnet linear motor is electrically connected to an energy storage battery, and selectively converts mechanical energy into electrical energy or electrical energy into mechanical energy according to the displacement of the intermediate raft and the vibration isolation platform. By detecting the corresponding displacement signal through the displacement sensor and coordinating the dual-mode operation of the tubular permanent magnet linear motor, precise and rapid switching between active vibration isolation and passive energy feeding is achieved in the double-layer vibration isolation system of a ship.

The application provides a flat plate type homopolar and homoslot permanent magnet linear motor, which comprises two oppositely arranged stators, each of which comprises a stator core and an armature winding, each of the stator cores comprises tooth portions and tooth slots, the tooth slots are arranged between adjacent tooth portions, and the armature winding is wound on the tooth portions; a mover is arranged between the two stators, and gaps are arranged between the stators and the mover, the mover comprises a plurality of permanent magnets which are arranged at intervals along the length direction of the stator core, and adjacent permanent magnets are magnetically opposite; the tooth slots comprise first tooth slots and second tooth slots, the number of the first tooth slots is equal to the number of the second tooth slots, and both satisfy Z=3n; the effective magnetic pole number P1 of the permanent magnet corresponding to the first tooth slot to the gap satisfies P1=Z+k1, the effective magnetic pole number P2 of the permanent magnet corresponding to the second tooth slot to the gap satisfies P2=Z-k1, and k1 is a positive integer greater than or equal to 1; and the permanent magnet linear motor can reduce or weaken the thrust fluctuation.

A method for determining a commutation angle of a permanent magnetic linear motor comprising a coil array and a mover physically connected to a moving body, the method comprising: applying to the coil array a first set of currents, adapting a phase offset of the first set of currents until the moving body reaches a first stationary condition with a first settled phase offset and a first actuation force, determining an estimated second actuation force, applying to the coil array and varying a second set of currents thereby transitioning the actuation force from the first actuation force to the estimated second actuation force via one or more intermediate force setpoints, further adapting the phase offset of the second set of currents until the moving body reaches a second stationary condition with a second settled phase offset, determining the commutation angle based on the first and the second settled phase offset.

The utility model discloses a permanent magnet linear motor, and belongs to the technical field of motor equipment. A cooling liquid flowing cavity can be defined by the side faces of every two adjacent annular stator iron cores, the outer side face of the annular sealing piece and the inner side wall of the installation cavity, and the cooling liquid flowing cavities can be communicated with a liquid inlet of a first cooling liquid flow channel and a liquid outlet of a second cooling liquid flow channel which are formed in the motor shell. The cooling liquid flowing cavity can be defined by the side face of the annular stator iron core, the annular sealing piece and the motor shell, other parts do not need to be arranged in the motor to assist in forming the cooling liquid flowing cavity, the manufacturing cost of the motor is reduced, and miniaturization design of the motor is facilitated. Besides, the cooling liquid entering the cooling liquid flowing cavity from the liquid inlet of the first cooling liquid flow channel can effectively cool the stator assembly, the power density of the permanent magnet linear motor is improved, and the service life of the permanent magnet linear motor is ensured.

The invention relates to the technical field of permanent magnet linear motor control, and provides a permanent magnet linear motor thrust ripple suppression method, which comprises the following steps: analyzing target sub-harmonic current by using a harmonic analysis module according to motor operation information, extracting a zero crossing point flag bit corresponding to the target subharmonic current, a quadrature-direct axis current in a synchronous rotating coordinate system and an average current in a half harmonic period; based on the zero crossing point flag bit of the target harmonic current, the quadrature-direct axis current under the synchronous rotating coordinate system and the average current in the half harmonic period, calculating the amplitude and the phase of the subharmonic voltage by using an amplitude and phase identification module; generating a PWM control signal based on the sub-harmonic voltage amplitude and the sub-harmonic voltage phase by using a motor control module; and controlling the permanent magnet direct current motor according to the PWM control signal. According to the method, the control effect of motor thrust fluctuation suppression under complex working conditions can be improved.

The present invention discloses a magnetic levitation Halbach micro permanent magnet linear motor and a motor design method. The linear motor includes a housing, a U-shaped electromagnet, and an electromagnetic drive module; the U-shaped electromagnet is installed at the bottom of the housing, and both ends of the U-shaped electromagnet are arranged towards the electromagnetic drive module, and an electromagnet winding is wound around the middle of the U-shaped electromagnet; the electromagnetic drive module includes a primary module and a secondary module that cooperate with each other. The secondary module is fixedly installed on the top of the housing, and the primary module is arranged between the U-shaped electromagnet and the secondary module; on the side of the primary module facing the U-shaped electromagnet, there are two magnetic levitation permanent magnets with opposite magnetization directions. By forming a levitation structure between the magnetic levitation permanent magnets on the primary module and the U-shaped electromagnet in this application, the frictional resistance during the forward movement of the mover can be reduced to a certain extent, thereby increasing the thrust density and improving the mechanical performance of the micro linear motor.

The invention relates to the field of gravity energy storage, in particular to a doubly salient permanent magnet linear motor system for gravity energy storage and a motor control method. The stator module comprises a stator core, an armature winding and a permanent magnet; the mover module comprises a mover iron core and mover salient poles; the driving control module comprises an FOC controller, an SVPWM unit and a three-phase two-level inverter. Coordinate system current conversion is realized by the Clark conversion unit and the Park conversion unit; the double-closed-loop PI control unit generates a q-axis current reference value according to an actual speed and a given speed error; and an alpha-beta coordinate system voltage is generated through the inverse transformation unit and is input into the SVPWM unit. The energy conversion efficiency is improved structurally, friction and magnetic leakage loss are reduced, system stability is enhanced, rapid peak and frequency regulation, magnetic circuit optimization and end effect and energy loss reduction are realized through accurate control, accurate control of current and speed is realized in combination with a control circuit, the energy conversion efficiency and system stability are improved, and the energy conversion efficiency and the system stability are improved. The maintenance cost is reduced.

The application discloses a segmented double-sided Halbach arc-shaped permanent magnet linear motor and a cooperative control method thereof, and relates to the technical field of motor design and control. The motor adopts a modularized mover and a segmented stator to form a double-sided arc-shaped structure, and the mover permanent magnets are arranged according to a specific rule to form a double Halbach array so as to enhance the air gap magnetic flux density. On the control method, a multi-node network is constructed, a sliding mode load torque observer is adopted to observe the load of each node in real time, the torque distribution is dynamically optimized by a cooperative controller, torque balance is realized, the fault node isolation and redundant operation capability are possessed, the environmental disturbance feedforward compensation and multi-axis decoupling control are integrated, the system robustness is enhanced, and the torque pulsation is inhibited through a current loop. The application is particularly suitable for large telescopes and other super-inertia, super-low-speed, high-precision direct-drive servo systems, and has high thrust, high reliability, high precision and strong anti-interference capability.

This invention relates to a double-sided asymmetric modular permanent magnet linear motor, comprising a secondary assembly and primary assemblies located on the upper and lower sides of the secondary assembly, with an air gap between them. The primary assembly includes a primary core and a primary winding. The primary core has a toothed structure, comprising primary teeth, upper end teeth on the left and right sides of the primary assembly located above the secondary assembly, and lower end teeth on the left and right sides of the primary assembly located below the secondary assembly. The primary winding is wound around the primary teeth. The two primary assemblies are staggered by the unequal width of their upper and lower end teeth, and the total length of the two primary assemblies is equal, with their ends aligned. This motor, based on the aligned upper and lower structures of the double-sided stator, adopts a double-sided asymmetric tooth structure, featuring simple installation, easy processing, high assembly precision, high thrust density, and low noise.

The utility model discloses a permanent magnet linear motor secondary structure, comprising a guard plate assembly, a base plate assembly and magnets, the magnets are arranged on the base plate assembly at intervals, the guard plate assembly covers the base plate assembly, two sides of the base plate assembly are provided with positioning ports along the length of the base plate assembly, and the positioning ports are arranged on the base plate assembly. The permanent magnet linear motor secondary structure is characterized in that the protection plate assembly is composed of a U-shaped part and extension parts on the two sides of an opening, a plurality of positioning teeth are arranged at the positions, intersecting with the extension parts, in the U-shaped part in the length direction of the U-shaped part, and the positioning teeth are matched with the positioning openings. Through the positioning teeth of the protection plate assembly and the positioning openings of the bottom plate assembly, an operator can be conveniently and rapidly helped to complete product assembling work, the occurrence rate of defective products is reduced, and the production efficiency is improved.

This invention provides an enhanced active disturbance rejection control (ADRC) method and its stability analysis method for an adaptive extended state observer (AESO) for permanent magnet linear motors, belonging to the field of high-performance control technology for permanent magnet linear motors. The enhanced ADRC method includes: Step S1, establishing a kinematic model based on the electromagnetic parameters of the permanent magnet linear motor; Step S2, calculating the integral sliding mode control surface based on the kinematic model, and calculating the final sliding mode control law based on the kinematic model and the integral sliding mode control surface; Step S3, obtaining the total disturbance estimate based on the structure of the LESO, and then calculating the bandwidth adaptive law to obtain the adaptive extended state observer (AESO) based on the bandwidth adaptive law; Step S4, realizing enhanced ADRC for the permanent magnet linear motor based on the final sliding mode control law and the AESO. This invention effectively solves the problems of high-speed tracking performance and anti-interference performance, achieving two-degree-of-freedom control of speed loop speed and disturbance rejection.

The utility model discloses a permanent magnet linear motor single axle module, it includes U-shaped guide rail, the upper surface fixed connection of U-shaped guide rail has stator, the upper surface fixed connection of U-shaped guide rail has slide, the outer surface sliding connection of slide has connecting plate, the lower surface fixed connection of connecting plate has permanent magnet mover, the inner surface sliding connection of U-shaped guide rail has buffer block. Through setting buffer block, limit board, gyro wheel, spring and box cover, can weaken the impact force when hitting U-shaped guide rail when connecting plate moving position is too big, thereby the service life of promotion device, through setting first threaded hole, bolt and second threaded hole, can open box cover, thereby convenient for the replacement of spring, and then ensure that the buffer effect of module is in the best state all the time, and through setting limit ring, first limit half ring and second limit half ring, can be positioned to the position of spring, thereby ensuring the stability of spring.

The invention discloses a permanent magnet linear motor sensorless control method combining a super-spiral sliding mode observer and a double-second-order generalized integrator, and belongs to the field of linear permanent magnet vernier motor control. Comprising the following steps that the current and the voltage of the linear motor are calculated by introducing a super-spiral sliding mode observer and a double-second-order generalized integrator, then the obtained estimated counter electromotive force serves as the input of a phase-locked loop, finally the estimated rotor position and the estimated speed of the motor can be obtained, and the control method has the advantages of being high in precision, high in thrust density and the like. According to the method, the chattering problem of the estimated counter electromotive force is reduced by introducing the super-spiral sliding-mode observer, then the estimated counter electromotive force is filtered by adopting the bisecond-order generalized integrator for harmonic disturbance caused by the positioning force of the permanent magnet vernier linear motor, the estimation precision is effectively improved, and the control performance is improved. Experimental results show that the control method can realize high-precision operation of the permanent magnet vernier linear motor under steady-state and variable-speed conditions.

The invention discloses a method for detecting a linear Hall position of a secondary segmented primary permanent magnet linear motor, which comprises the following steps of: embedding a linear Hall element in a primary groove for placing an armature winding between permanent magnet magnetic conductive teeth and armature winding magnetic conductive teeth of the linear motor to detect the position; the detection method provided by the invention comprises the following steps of: acquiring a voltage signal which contains position information and has less direct-current components and even harmonics by adopting a linear Hall installation method provided by the invention; odd-order harmonics in the voltage signals used for position calculation are filtered out through a designed complex filter; and full-speed position detection is realized through a phase-locked loop containing a self-adaptive complex filter. According to the method, only the primary embedded linear Hall element is adopted, on the basis that the structure of the primary permanent magnet linear motor is kept unchanged, the secondary segmented structure is used for position detection, the method has the advantages of being low in cost and high in reliability, and the method can further achieve rapid and accurate tracking of the position of the secondary segmented primary permanent magnet linear motor.