Adaptive Fuzzy Sliding Mode Control Of H Platform Based On Dual Linear Motor Drive

At present,the important research direction of NC machine tools is high speed and high precision,and the purpose of this study is to design the precision intelligent control system of the high precision and speed.The purpose of this thesis is to meet the precise positioning control between the axes of the H platform and the effective synchronization control between two linear motors.H platform used in this thesis is composed of three sets of permanent magnet linear synchronous motor(PMLSM).The Y axis is composed of two parallel permanent magnet linear synchronous motors,and the X axis consists of a permanent magnet linear synchronous motor.Because of the double linear motor with different mechanical properties and the mechanical coupling interaction between single axis and double linear motors,it will generate synchronization error.And then the important difficulty of this thesis is the synchronous control of the double linear motor of the H platform.First of all,by consulting a large number of domestic and foreign references,this thesis discusses the development and prospect of H platform driven permanent magnet linear motor in recent years.At the same time,the main control methods of permanent magnet linear synchronous motor are described.According to the H platform,the mathematical model is established by Lagrange method,and the error and precision of the system are analyzed.Secondly,there are some problems such as load disturbance,mismatch between the two axes and mechanical coupling.These problems will affect the operation of the system,tracking precision,tracking error and error of the system synchronization control.In this thesis,an adaptive back-stepping controller is designed to realize the anti-interference and fast tracking performance of permanent magnet linear synchronous motor.At the same time,in order to improve the steady-state error of the system,an integral back-stepping controller is designed.The RBF network observer is proposed to estimate the disturbance term,which improves the system the ability of the response characteristic and anti-interference.Designing the controller to satisfy the NC technology in the areas of high precision and speed requirements.Thesimulation software Matlab/Simulink is used to model and simulate the synchronous controller.Finally,a control system based on adaptive fuzzy sliding mode controller is designed to further improve the synchronization error of the system.The adaptive switching function and fuzzy approximation theory are used in this thesis.By selecting an optimal fuzzy system to carry on the simulation,the results show that the synchronization error is reduced and the tracking precision is improved.The fuzzy sliding mode controller between double axis is combined with fuzzy control and sliding mode control.And the fuzzy control is used to improve the switching control.An adaptive fuzzy sliding mode controller is designed based on the Lyapunov stability theorem,which is used to solve the problem of the value selection of the modified sliding mode controller.Then the adaptive fuzzy sliding mode synchronous controller is constituted.The control method with sliding mode variable structure and adaptive fuzzy control together,to some extent improves the synchronization performance of the control system,and effectively reduces the bucket vibration system.Use simulation software Matlab/Simulink to model and simulation analysis for synchronous controller.The simulation results show that the adaptive fuzzy sliding mode control system has higher synchronization control precision compared with the H platform of the common sliding mode control system.