Research On High Performance Servo Control Of Double-secondary Permanent Magnet Synchronous Linear Motor

The direct drive system composed of permanent magnet linear synchronous motor is a kind of transmission device which directly converts electric energy into linear motion mechanical energy without any intermediate conversion mechanism.PMLSM has been widely used in industry because of its small loss,high energy index and fast response.However,due to the non-linearity,strong coupling and uncertainty of the PMLSM structure,the controller design is difficult to achieve high precision and fast response.Compared with the rotating machine,PMLSM is more difficult to control due to the end effect caused by the open structure,so it is necessary to seek a more excellent control method to control it.Firstly,the principle of the PMLSM is introduced and analyzed.The mathematical model of PMLSM in the a-b-c coordinate system,the ?-? coordinate system and the d-q coordinate system are deduced in detail according to the principle of coordinate transformation.The vector control system is introduced,and the simulation model of vector control system based on PID position control strategy is given.Aiming at the influence of uncertainties such as parameter variation,friction and load on the servo system,an adaptive backstepping control algorithm is proposed by nonlinear backstepping control.Firstly,the Lyapunov stability theory and nonlinear backstepping theory are expounded,and then the design principle of the backstepping control is discussed.Finally,the adaptive backstepping controller is designed.A robust passive control algorithm with nonlinear friction suppression is proposed for the applications of PMLSM in small travel servo control.Firstly,the basic conception and principle of passive control are introduced,and the design method of passive controller for port-controlled dissipative Hamiltonian system is given,which lays the foundation for the design of passive speed controller of permanent magnet synchronous motor basis.Then,passive control is applied to the PMLSM small travel control.For the problem of nonlinear friction disturbance and robust control technique,the robust passive position control based on state error model is designed in Hamiltonian model.Finally,the model of the adaptive backstepping controller and the robust passive controller are built in Matlab / Simulink environment respectively,and the simulation results are compared with the traditional PID control under the same conditions.The results show that the position control algorithm designed in this paper has better performance in terms of dynamic and steady state characteristics and robustness.