CN102664569A - Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor - Google Patents

Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor Download PDF

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CN102664569A
CN102664569A CN2012101382305A CN201210138230A CN102664569A CN 102664569 A CN102664569 A CN 102664569A CN 2012101382305 A CN2012101382305 A CN 2012101382305A CN 201210138230 A CN201210138230 A CN 201210138230A CN 102664569 A CN102664569 A CN 102664569A
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synchronous motor
permanent magnetic
linear synchronous
magnetic linear
sliding
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韩明文
刘军
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Shanghai Dianji University
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Abstract

The invention provides a sliding-mode-variable-structure-based control method and device for a permanent-magnet synchronous linear motor. The method comprises the following steps of: establishing a permanent-magnet synchronous linear motor model; establishing an overall simulation module of the permanent-magnet synchronous linear motor and carrying out parameter adjustment; selecting a suitable sliding mode variable structure and establishing a corresponding simulation module; and carrying out simulation and result comparison through sliding mode variable structure control. According to the scheme provided by the invention, the traditional single PID (Proportion, Integration and Differentiation) control is changed into sliding mode control, so that the speed response is faster, the overshoot quantity is less, and the anti-interference capacity is stronger; and the sliding mode variable structure has the advantages of simple control algorithm, good robustness and high reliability, so that the method and the device can be excellently applied to a nonlinear movement control process.

Description

A kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure
Technical field
The present invention relates to the information Control technical field, particularly a kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure.
Background technology
Permanent magnetic linear synchronous motor is a kind ofly can directly convert electrical energy into straight-line transmission device; Because driving medium in the middle of not needing; With respect to the kind of drive of traditional " electric rotating machine+roller bearing leading screw " have significant advantage as: precision is high, speed and acceleration are big and stable, and thrust is big etc.In recent years, linear electric motors have obtained development at full speed and have been widely used in various occasions, especially are the High-speed machining field of essential characteristic with high efficiency and high accuracy.Linear electric motors replace common servo drive system gradually with the advantage of aspects such as its quick response and precision, but will make linear electric motors show good performance, and are just also increasingly high to the requirement of control system.
That traditional PID control has is simple in structure, output stable, be prone to advantage such as realizations and continued to use so far, but with high speed and super precision, processing occasion that load disturbance is big, simple PID controls and can not reach ideal control effect.
To prior art under the big processing occasion of high speed and super precision, load disturbance; The problem of control poor effect, proposing a kind of permanent magnetic linear synchronous motor control method based on sliding moding structure is one of information Control technical field problem anxious to be solved at present with device.
Summary of the invention
In view of this; The embodiment of the invention has proposed a kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure, through setting up the permanent magnetic linear synchronous motor model, and the line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor then; Then choose suitable sliding moding structure and set up corresponding emulation module; Finally carry out emulation and result's comparison through Sliding mode variable structure control, this programme changes traditional single PID control into Sliding-Mode Control Based, makes speed responsive faster; Overshoot is littler; And antijamming capability is stronger, and the Sliding mode variable structure control algorithm is simple, robustness reaches the reliability height well, can well be applied in the nonlinear motion control procedure.
For solving the problems of the technologies described above, the purpose of the embodiment of the invention realizes through following technical scheme:
A kind of permanent magnetic linear synchronous motor control method based on sliding moding structure comprises:
Step 1, set up the permanent magnetic linear synchronous motor model;
The line parameter adjustment of going forward side by side of step 2, the whole emulation module of setting up permanent magnetic linear synchronous motor;
Step 3, choose suitable sliding moding structure and set up corresponding emulation module;
Step 4, carry out emulation and result relatively through Sliding mode variable structure control.
Preferably, in the above-mentioned steps one, be to build the permanent magnetic linear synchronous motor model according to kinetics equation.
Preferably, the kinetics equation of above-mentioned permanent magnetic linear synchronous motor is:
F e = F d + B v V + m dV dt
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
Preferably, in the above-mentioned steps one, further comprise according to Mathematical Modeling and set up voltage and mechanical module, build the permanent magnetic linear synchronous motor model according to kinetics equation.
Preferably, in the above-mentioned steps two, set up the whole emulation module of permanent magnetic linear synchronous motor, include but not limited to speed and electric current loop PID control, SVPWM module.
Preferably, in the above-mentioned steps two, carry out parameter adjustment to obtain the initial parameter of each PID controller.
Preferably, in the above-mentioned steps three, said Sliding mode variable structure control scheme is:
u＝u eq+u sw
Wherein, u Eq=ne, u Sw=fsign (s) is so have
Figure BDA00001611067800022
A kind of permanent magnetic linear synchronous motor control device based on sliding moding structure; Comprise modelling unit, parameter adjustment unit, choose unit and comparing unit; Through setting up the permanent magnetic linear synchronous motor model; The line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor is then then chosen suitable sliding moding structure and is set up corresponding emulation module, finally carries out emulation and result's comparison through Sliding mode variable structure control.
Preferably, above-mentioned modelling unit is used to set up the permanent magnetic linear synchronous motor model.
Preferably, the above-mentioned parameter adjustment unit whole emulation module that is used to the to set up permanent magnetic linear synchronous motor line parameter adjustment of going forward side by side.
Preferably, the above-mentioned unit of choosing is used to choose suitable sliding moding structure and sets up corresponding emulation module.
Preferably, above-mentioned comparing unit is used for carrying out emulation and result's comparison through Sliding mode variable structure control.
In sum; The invention provides a kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure, through setting up the permanent magnetic linear synchronous motor model, the line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor then; Then choose suitable sliding moding structure and set up corresponding emulation module; Finally carry out emulation and result's comparison through Sliding mode variable structure control, this programme changes traditional single PID control into Sliding-Mode Control Based, makes speed responsive faster; Overshoot is littler; And antijamming capability is stronger, and the Sliding mode variable structure control algorithm is simple, robustness reaches the reliability height well, can well be applied in the nonlinear motion control procedure.
Description of drawings
Fig. 1 is a kind of permanent magnetic linear synchronous motor control method sketch map based on sliding moding structure of the present invention;
Fig. 2 is the model sketch map of the present invention's sliding mode controller;
Fig. 3 is the The model sketch map of PMLSM Sliding-Mode Control Based under the Simulink;
Fig. 4 is a PID controller velocity simulation waveform sketch map;
Fig. 5 is a sliding mode controller velocity simulation waveform sketch map;
Speed simulation waveform sketch map when Fig. 6 is the disturbance of PID controller impact;
Speed simulation waveform sketch map when Fig. 7 is the disturbance of sliding mode controller impact;
Fig. 8 compares the waveform sketch map for thrust;
Fig. 9 is a kind of permanent magnetic linear synchronous motor control device sketch map based on sliding moding structure of the present invention.
Embodiment
A kind of permanent magnetic linear synchronous motor control method and device that the embodiment of the invention provides based on sliding moding structure; Through setting up the permanent magnetic linear synchronous motor model; The line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor is then then chosen suitable sliding moding structure and is set up corresponding emulation module, finally carries out emulation and result's comparison through Sliding mode variable structure control; This programme changes traditional single PID control into Sliding-Mode Control Based; Make speed responsive faster, overshoot is littler, and antijamming capability is stronger; The Sliding mode variable structure control algorithm is simple, robustness reaches the reliability height well, can well be applied in the nonlinear motion control procedure.
For making the object of the invention, technical scheme and advantage clearer, the embodiment that develops simultaneously with reference to the accompanying drawings is to further explain of the present invention.
The main thought of this programme is: with conventional PID controllers with the substituted control method of Sliding mode variable structure control device; The method makes certain improvements on the speed ring of linear electric motors; Change traditional single PID control into Sliding-Mode Control Based; Make speed responsive faster, overshoot is littler, and antijamming capability is stronger.The Sliding mode variable structure control algorithm is simple, robustness reaches the reliability height well; Can well be applied in the nonlinear motion control procedure; This programme proposes a kind of control method that PID controller in the speed ring is replaced with sliding mode controller; Experiment simulation is the result show, there is good raising in system in rapidity and aspect such as anti-interference.
The embodiment of the invention provides a kind of permanent magnetic linear synchronous motor control method based on sliding moding structure, and as shown in Figure 1, concrete steps comprise:
Step 1, set up the permanent magnetic linear synchronous motor model;
Particularly; In embodiments of the present invention; In view of the simulation model that does not have linear electric motors inside the simulink, this programme is to set up voltage and mechanical module according to the Mathematical Modeling of PMLSM, and the emulation module of building linear electric motors according to kinetics equation is the permanent magnetic linear synchronous motor model.
Further, the thrust at this programme cathetus motor is:
Figure BDA00001611067800041
formula (1)
Wherein, L d=L q=L, and in the working control strategy, generally make i d=0, so the linear motor pushing force equation can be reduced to:
Figure BDA00001611067800051
formula (2)
In addition, the kinetics equation of permanent magnetic linear synchronous motor is:
F e = F d + B v V + m DV Dt Formula (3)
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
The line parameter adjustment of going forward side by side of step 2, the whole emulation module of setting up permanent magnetic linear synchronous motor;
Particularly, in embodiments of the present invention, with the whole emulation module of setting up permanent magnetic linear synchronous motor, include but not limited to speed and electric current loop PID control, SVPWM module etc., the line parameter of going forward side by side adjustment obtains the initial parameter of each PID controller.
In this programme, the thrust equation of linear electric motors is:
Figure BDA00001611067800053
formula (2)
The kinetics equation of permanent magnetic linear synchronous motor is:
F e = F d + B v V + m DV Dt Formula (3)
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
Can obtain by formula (2) and formula (3)
v · = 3 π ψ f 2 τ m i q - B v m v - F d m Formula (4)
Be written as v · = 3 π ψ f 2 τ m i q * + a ( t ) Formula (5)
Wherein,
Figure BDA00001611067800057
definition velocity error is e=v*-v, then
Figure BDA00001611067800061
Figure BDA00001611067800062
for the sliding mode controller output.Choosing the integral form sliding-mode surface does s = e + c ∫ 0 t Edτ , c = 3 π ψ f 2 τ n n , N is a positive number.
Step 3, choose suitable sliding moding structure and set up corresponding emulation module;
Particularly, in embodiments of the present invention, be Mathematical Modeling according to linear electric motors, choose suitable sliding moding structure and set up corresponding simulink emulation module.
Further, when system motion arrives sliding-mode surface, s=0 and s=0 are arranged.The controller final objective is that this programme is chosen the Sliding mode variable structure control scheme and is if system reaches in the limited time on sliding-mode surface and stable and the sliding-mode surface:
U=u Eq+ u SwFormula (6)
Wherein, u Eq=ne, u Sw=fsign (s) is so formula (6) is rewritten as
u = i q * = Me + Fsign ( s ) Formula (7)
Can set up the model (being integral form sliding mode controller model) as shown in Figure 2 of sliding mode controller according to formula (7).
Can set up the The model of PMLSM Sliding-Mode Control Based under the Simulink thus, as shown in Figure 3.
Step 4, carry out emulation and result relatively through Sliding mode variable structure control.
Particularly, in embodiments of the present invention, be that speed ring PID controller is replaced carrying out emulation and comparing with PID controller simulation result for Sliding mode variable structure control.
Further, in this programme, velocity setting 1m/s, simulation result is as 4 and shown in Figure 5 when no disturbance.Wherein, Fig. 4 is a PID controller velocity simulation waveform sketch map; Fig. 5 is a sliding mode controller velocity simulation waveform sketch map.
In addition; Can find out from the speed simulation waveform; The response time of traditional PI D and overshoot are respectively 0.2S and 9.8%, and the response time of Sliding mode variable structure control device and overshoot are respectively 0.042S and 0.6%, and system all is being greatly improved aspect the overshoot very rapidity.For detection system stability, impact disturbance waveform such as Fig. 6 and shown in Figure 7 when 0.5S.Speed simulation waveform sketch map when Fig. 6 is the disturbance of PID controller impact; Speed simulation waveform sketch map when Fig. 7 is the disturbance of sliding mode controller impact.
From figure, contrast and can find out, PID has bigger disturbance when being controlled at system's shock load, the Sliding mode variable structure control device then can the good restraining external interference to the disturbance of system, have stronger interference free performance.Relatively waveform is as shown in Figure 8 for thrust.Sliding mode variable structure control is faster than PID controller in the thrust response, thereby makes system have better control performance.
In addition, the embodiment of the invention also provides a kind of permanent magnetic linear synchronous motor control device based on sliding moding structure.A kind of permanent magnetic linear synchronous motor control device sketch map as shown in Figure 9, as to provide for the embodiment of the invention based on sliding moding structure.
A kind of permanent magnetic linear synchronous motor control device based on sliding moding structure comprises modelling unit 11, parameter adjustment unit 22, chooses unit 33 and comparing unit 44.
Modelling unit 11 is used to set up the permanent magnetic linear synchronous motor model;
Particularly; In embodiments of the present invention; In view of the simulation model that does not have linear electric motors inside the simulink, this programme is to set up voltage and mechanical module according to the Mathematical Modeling of PMLSM, and the emulation module of building linear electric motors according to kinetics equation is the permanent magnetic linear synchronous motor model.
Further, the thrust at this programme cathetus motor is:
Figure BDA00001611067800071
formula (1)
Wherein, L d=L q=L, and in the working control strategy, generally make i d=0, so the linear motor pushing force equation can be reduced to:
formula (2)
In addition, the kinetics equation of permanent magnetic linear synchronous motor is:
F e = F d + B v V + m dV dt
Formula (3)
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
The line parameter adjustment of going forward side by side of parameter adjustment unit 22, the whole emulation module that is used to set up permanent magnetic linear synchronous motor;
Particularly, in embodiments of the present invention, with the whole emulation module of setting up permanent magnetic linear synchronous motor, include but not limited to speed and electric current loop PID control, SVPWM module etc., the line parameter of going forward side by side adjustment obtains the initial parameter of each PID controller.
In this programme, the thrust equation of linear electric motors is:
Figure BDA00001611067800081
formula (2)
The kinetics equation of permanent magnetic linear synchronous motor is:
F e = F d + B v V + m DV Dt Formula (3)
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
Can obtain by formula (2) and formula (3)
v · = 3 π ψ f 2 τ m i q - B v m v - F d m Formula (4)
Be written as
v · = 3 πψ f 2 τm i q * + a ( t )
Wherein,
Figure BDA00001611067800085
definition velocity error is e=v*-v, and then
Figure BDA00001611067800086
Figure BDA00001611067800087
is sliding mode controller output.Choosing the integral form sliding-mode surface does s = e + c ∫ 0 t Edτ , c = 3 π ψ f 2 τ n n , N is a positive number.
Choose unit 33, be used to choose suitable sliding moding structure and set up corresponding emulation module;
Particularly, in embodiments of the present invention, be Mathematical Modeling according to linear electric motors, choose suitable sliding moding structure and set up corresponding simulink emulation module.
Further, when system motion arrives sliding-mode surface, s=0 and s=0 are arranged.The controller final objective is that this programme is chosen the Sliding mode variable structure control scheme and is if system reaches in the limited time on sliding-mode surface and stable and the sliding-mode surface:
U=u Eq+ u SwFormula (6)
Wherein, u Eq=ne, u Sw=fsign (s) is so formula (6) is rewritten as
u = i q * = Ne + Fsign ( s ) Formula (7)
Can set up the model (being integral form sliding mode controller model) as shown in Figure 2 of sliding mode controller according to formula (7).
Can set up the The model of PMLSM Sliding-Mode Control Based under the Simulink thus, as shown in Figure 3.
Comparing unit 44 is used for carrying out emulation and result's comparison through Sliding mode variable structure control.
Particularly, in embodiments of the present invention, be that speed ring PID controller is replaced carrying out emulation and comparing with PID controller simulation result for Sliding mode variable structure control.
Further, in this programme, velocity setting 1m/s, simulation result is as 4 and shown in Figure 5 when no disturbance.Wherein, Fig. 4 is a PID controller velocity simulation waveform sketch map; Fig. 5 is a sliding mode controller velocity simulation waveform sketch map.
In addition; Can find out from the speed simulation waveform; The response time of traditional PI D and overshoot are respectively 0.2s and 9.8%, and the response time of Sliding mode variable structure control device and overshoot are respectively 0.042S and 0.6%, and system all is being greatly improved aspect the overshoot very rapidity.For detection system stability, impact disturbance waveform such as Fig. 6 and shown in Figure 7 when 0.5S.Speed simulation waveform sketch map when Fig. 6 is the disturbance of PID controller impact; Speed simulation waveform sketch map when Fig. 7 is the disturbance of sliding mode controller impact.
From figure, contrast and can find out, PID has bigger disturbance when being controlled at system's shock load, the Sliding mode variable structure control device then can the good restraining external interference to the disturbance of system, have stronger interference free performance.Relatively waveform is as shown in Figure 8 for thrust.Sliding mode variable structure control is faster than PID controller in the thrust response, thereby makes system have better control performance.
One of ordinary skill in the art will appreciate that and realize that all or part of step that the foregoing description method is carried is to instruct relevant hardware to accomplish through program; Described program can be stored in a kind of computer-readable recording medium; This program comprises one of step or its combination of method embodiment when carrying out.
In addition, each functional unit in each embodiment of the present invention can be integrated in the processing module, also can be that the independent physics in each unit exists, and also can be integrated in the module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, also can adopt the form of software function module to realize.If said integrated module realizes with the form of software function module and during as independently production marketing or use, also can be stored in the computer read/write memory medium.
In sum; This paper provides a kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure, through setting up the permanent magnetic linear synchronous motor model, and the line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor then; Then choose suitable sliding moding structure and set up corresponding emulation module; Finally carry out emulation and result's comparison through Sliding mode variable structure control, this programme changes traditional single PID control into Sliding-Mode Control Based, makes speed responsive faster; Overshoot is littler; And antijamming capability is stronger, and the Sliding mode variable structure control algorithm is simple, robustness reaches the reliability height well, can well be applied in the nonlinear motion control procedure.
More than a kind of permanent magnetic linear synchronous motor control method and device based on sliding moding structure provided by the present invention carried out detailed introduction; Used concrete example among this paper principle of the present invention and execution mode are set forth, the explanation of above embodiment just is used for helping to understand scheme of the present invention; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that on embodiment and range of application, all can change, in sum, this description should not be construed as limitation of the present invention.

Claims (12)

1. permanent magnetic linear synchronous motor control method based on sliding moding structure is characterized in that said method comprises:
Step 1, set up the permanent magnetic linear synchronous motor model;
The line parameter adjustment of going forward side by side of step 2, the whole emulation module of setting up permanent magnetic linear synchronous motor;
Step 3, choose suitable sliding moding structure and set up corresponding emulation module;
Step 4, carry out emulation and result relatively through Sliding mode variable structure control.
2. method according to claim 1 is characterized in that, in the said step 1, is to build the permanent magnetic linear synchronous motor model according to kinetics equation.
3. method according to claim 2 is characterized in that, the kinetics equation of said permanent magnetic linear synchronous motor is:
F e = F d + B v V + m dV dt
L wherein d, L qBe d-axis and a friendship axle inductance, φ fBe the line motor permanent magnet magnetic linkage; V is the speed of linear electric motors; M is a motor quality.
4. method according to claim 1 is characterized in that, in the said step 1, further comprises according to Mathematical Modeling and sets up voltage and mechanical module, builds the permanent magnetic linear synchronous motor model according to kinetics equation.
5. method according to claim 1 is characterized in that, in the said step 2, sets up the whole emulation module of permanent magnetic linear synchronous motor, includes but not limited to speed and electric current loop PID control, SVPWM module.
6. method according to claim 1 is characterized in that, in the said step 2, carries out parameter adjustment to obtain the initial parameter of each PID controller.
7. method according to claim 1 is characterized in that, in the said step 3, said Sliding mode variable structure control scheme is:
u＝u eq+u sw
Wherein, u Eq=ne, u Sw=fsign (s) is so have
Figure FDA00001611067700012
8. permanent magnetic linear synchronous motor control device based on sliding moding structure; It is characterized in that; Said device comprises modelling unit, parameter adjustment unit, chooses unit and comparing unit, through setting up the permanent magnetic linear synchronous motor model, and the line parameter adjustment of going forward side by side of the whole emulation module of setting up permanent magnetic linear synchronous motor then; Then choose suitable sliding moding structure and set up corresponding emulation module, finally carry out emulation and result's comparison through Sliding mode variable structure control.
9. device according to claim 8 is characterized in that, said modelling unit is used to set up the permanent magnetic linear synchronous motor model.
10. device according to claim 8 is characterized in that, the whole emulation module that said parameter adjustment unit is used to the to set up permanent magnetic linear synchronous motor line parameter adjustment of going forward side by side.
11. device according to claim 8 is characterized in that, the said unit of choosing is used to choose suitable sliding moding structure and sets up corresponding emulation module.
12. device according to claim 11 is characterized in that, said comparing unit is used for carrying out emulation and result's comparison through Sliding mode variable structure control.
CN2012101382305A 2012-05-07 2012-05-07 Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor Pending CN102664569A (en)

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CN103336483A (en) * 2013-05-22 2013-10-02 沈阳工业大学 Control methods for time-varying sliding mode variable structure and for cross-coupling control magnetic suspension system
CN103780168A (en) * 2014-01-16 2014-05-07 江苏新绿能科技有限公司 Brushless DC-motor sliding-mode control system used for metro shielding barriers
CN104682805A (en) * 2015-01-21 2015-06-03 浙江工业大学 Permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on extended state observer
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CN106873358A (en) * 2015-11-19 2017-06-20 欧姆龙株式会社 Control Device And Control Method
CN108021039A (en) * 2017-12-23 2018-05-11 西安交通大学 A kind of Linear motor feeding system electromechanics integrated modelling approach

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103248312A (en) * 2013-04-26 2013-08-14 杭州中科赛思伺服电机有限公司 Control method based on linear servo motor
CN103336483A (en) * 2013-05-22 2013-10-02 沈阳工业大学 Control methods for time-varying sliding mode variable structure and for cross-coupling control magnetic suspension system
CN103336483B (en) * 2013-05-22 2015-11-04 沈阳工业大学 Time become the control method of sliding moding structure and cross-coupling control magnetic suspension system
CN103780168A (en) * 2014-01-16 2014-05-07 江苏新绿能科技有限公司 Brushless DC-motor sliding-mode control system used for metro shielding barriers
CN104682805A (en) * 2015-01-21 2015-06-03 浙江工业大学 Permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on extended state observer
CN104682805B (en) * 2015-01-21 2017-07-25 浙江工业大学 Permagnetic synchronous motor full-order sliding mode structure changes position servo control method based on extended state observer
CN106873358A (en) * 2015-11-19 2017-06-20 欧姆龙株式会社 Control Device And Control Method
CN106841531A (en) * 2017-03-22 2017-06-13 吉林大学 Ammonia coverage rate nonlinear observer design method based on synovial membrane control
CN106841531B (en) * 2017-03-22 2019-04-23 吉林大学 Ammonia coverage rate Nonlinear Observer Design method based on synovial membrane control
CN108021039A (en) * 2017-12-23 2018-05-11 西安交通大学 A kind of Linear motor feeding system electromechanics integrated modelling approach
CN108021039B (en) * 2017-12-23 2020-03-17 西安交通大学 Electromechanical integration modeling method for linear motor feeding system

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Application publication date: 20120912