Research On Sliding Mode Control System Of Permanent Magnet Linear Synchronous Motor Based On Novel Ultra-local Model

The level of high precision machining and manufacturing technology is an important indicator to assess the level of one country’s manufacturing industry.Permanent magnet linear synchronous motor(PMLSM)as the core of high precision direct-drive transmission system,its highperformance control is the key carrier to improve the level of high precision machining and manufacturing technology,which can accelerate our country’s transformation into manufacturing power.PMLSM has the characteristics of strong coupling,multi-variable,and easily susceptible to the environment,which puts forward higher demands on the control system’s design.The idea of ultra-local model control uses a new modeling method,only using the real-time input and output of the system to establish an ultra-local model of the controlled object.And based on the ultra-local model combine with the control algorithm to design the controller,which can eliminate the disadvantages of traditional controllers caused by the incomplete modeling of the system’s ideal model,and simultaneously continue the advantages of its control algorithm.Control algorithm based on the ultra-local model control theory has gradually attracted attention in the field of motor control.Therefore,the research on the PMLSM sliding mode control system based on the novel ultra-local model is of great significance to improve the control performance of the PMLSM control system.The main research content of this paper is as follows:In order to reduce the control system’s dependence on the precise model of the PMLSM,improve the response speed and anti-interference ability of the controller,a PMLSM sliding mode control strategy based on a novel ultra-local model is proposed.According to the novel ultra-local model of PMLSM considering parameter perturbation and disturbance changes,a PMLSM sliding mode velocity controller is designed in combination with exponential reaching law.Considering the unknown quantities in the novel ultra-local model,an internal model control disturbance observer is designed to for estimation and feedforward compensation,so as to establish a novel ultra-local model updated in real time and realize high-performance control of PMLSM.Finally,the control system under the vector framework is built on the Matlab/Simulink simulation platform,and compared with the PI control and the traditional sliding mode control schemes,the effectiveness of the proposed control strategy is verified.Aiming at the problem of the aforementioned control system’s serious chattering phenomenon under the exponential reaching law,and to further study the influence of the unknown quantities observation performance in the novel ultra-local model on the sliding mode control system based on the PMLSM’s novel ultra-local model,a new reaching law is firstly proposed to improve the aforementioned PMLSM novel ultra-local model sliding mode speed controller,and the effectiveness of the proposed reaching law is verified by simulation comparison.Based on the improved sliding mode controller,the extended sliding mode disturbance observer and the supertwisting sliding mode observer are respectively designed to estimate the unknowns in the novel ultra-local model of the motor.And the simulation and comparative analysis of the PMLSM novel ultra-local model sliding mode control system under the three observers proposed in this paper is carried out.Finally,the experimental verification is carried out on the hardware-in-the-loop simulation platform with d SPACE1104.When faced with the actual friction force and unknown disturbance,the proposed PMLSM sliding mode control system based on the novel ultra-local model can well adapt to changes in the environment and has fast response speed.The experimental results are consistent with the simulation theoretical analysis,and the aforementioned control method has good control performance and industrial application prospects.