Research On Coordination Control Of Multi-PMLSM Servo System

As a kind of motor can provide direct linear motions, linear motors areincreasingly used in a variety of linear motion applications with high-precision andhigh-speed. Multiple linear motors running in coordination may make the productionprocess more efficient and convenient. However, the special structure of linearmotors and the coupling between multiple motors may reduce the accuracy ofrunning servo system. Therefore, research for the coordination control of multi-linearmotors servo system gets more and more attention. Under this background, in thethesis, the coordination control of multi-linear motor servo system has beenresearched and designed.Firstly,as the research object, the mathematical model of PMLSM wasestablished by means of vector control when id=0.Based on the mathematical model,the structure of servo system driven by a linear motor has been studied and linearservo system controller have been established.The current, velocity, position threeclosed-loop control system of the servo system has been analysed as well.Thesimulation model of the servo system has been established to prove the performanceof three-loop structure via simulation.Secondly, synchronous velocity control of the dual-PMLSM system and contouraccuracy of two-dimensional motion have been studied. The speed deviationcompensator with coupling structure has been designed aimed at the requirementsof dual-PMLSM synchronous system. The accuracy and robustness of thesynchronization system have been ensured by means of adjusting controllerparameters of Fuzzy PID controller in real time. Variable gain cross coupledcontroller has been designed according to two-dimensional contour motionaccuracy.Controller exported adjusting-values in two axes to improve contouraccuracy using the contour error model under general motion path which has beendetived. The cross coupled controller has been optimized via Adaptive GeneticAlgorithm. Simulation results showed that the designed synchronous control system can ensure the dynamic synchronization of biaxial. Cross-coupled controller caneffectively eliminated the contour error, and improve contour accuracy as well.Finally, the multi-axis linear servo system has been established and the designedmulti-axis coordination control algorithms have been experimented on the Multi-axismotion platform. Servo systems have been built and system controllers have beendesigned. Coordination control algorithms designed in above has been compiled InMechaWare toolbox provideed by the system, then been experimented by loading inZMP motion control card. Experiments results shows that the three-loop servosystem designed in this study has a good performance and cooperative controlalgorithm designed can maintained a high synchronization in cooperative movementof multi-PMLSM, a smaller tracking error and contour errors as well; Meanwhile,the multi-PMLSM servo system has been established has high stability androbustness when disturbed.