Design Of Sliding Mode Controller For Linear Servo Motor On Pantograph Test-bed

With the rapid development of China’s high-speed railway,Study of friction loss of pantograph catenary system has become an important subject in rail transport sub-field.What is most urgently needed is to build a test-bed,which can simulate pantograph catenary system in different conditions.Linear motions have many good characters, such as,quick response in velocity and acceleration,high locating accuracy, and it is used to simulated the sliding contact point on Bow-net Contact System.Therefore,PMLSM is the key part in Pantograph Test-bed. Undoubtedly,it is really significant to study its control mode.This thesis supported by the project for China Academy of Railway Sciences that the linear motor control section of high-speed train Pantograph Test-bed stand.Firstly, this thesis combining with practical project background, introduces the whole pantograph control system hardware.Take the linear motor as an example, briefly describe the entire control system software running processes. In according to its domestic theory and application results, comparing of different control methods, combining Linear Motors’ characteristics of sensitive to the disturbance, a digital position PID controller is selected with PID control law Sliding Mode Control.According to specific electric and mechanism parameters of linear motor Danaher Motion IC33-100A7in actual using, this thesis design the linear motor model after the step of creating a mathematical model of linear motor d-q axis.,this thesis builds the entire control system simulation model of current loop PI controller, speed loop PI controller, PID control law SMVSC position loop controller of linear motor.And then through testing and analyzing the established control system simulation model performance, we get satisfied simulation results. These results provide a reference for the actual turning current loop and speed loop PI controller parameters of linear motor and reduce the turning workload of parameter effectively. And ultimately this thesis completes the test and operation of linear motor.Finally,using VC++this thesis program the actual closed loop control running code of pantograph test-bed horizontal actuator. And the horizontal actuator is composed by a industrial computer, a servo drive and a linear motor.