CN103560722A - Permanent magnet linear synchronous motor control device and method - Google Patents

Abstract

The invention provides a permanent magnet linear synchronous motor control device and method, and belongs to the technical field of numerical control. A location signal of a permanent magnet linear synchronous motor is given, and the location signal is converted into a voltage and current signal which is used for controlling the motor to operate to enable the motor to move. A position signal, a speed signal and a current signal of a rotor of the permanent magnet linear synchronous motor are collected. A complementary sliding mode variable structure control algorithm is used for determining the control currents. A DSP processor uses an adjusted current control signal to generate six ways of PWM pulse signals to drive the permanent magnet linear motor to operate. According to the permanent magnet linear synchronous motor control device and method, the complementary sliding mode variable structure control algorithm is used for processing and calculating a location error signal, the design that a general sliding mode surface and a complementary sliding mode surface are combined is used in the sliding mode surface, the design enables a system to move towards the intersection point of the two sliding mode surfaces, the system is made to have a higher response speed than traditional control, the location error precision is obviously improved, and the permanent magnet linear synchronous motor is made to have the servo system performance of high speed, high precision and high robustness.

Description

A kind of permanent magnet linear synchronous motor control device and method

Technical field

The invention belongs to fields of numeric control technique, particularly a kind of permanent magnet linear synchronous motor control device and method.

Background technology

In recent years, along with the performance of power electronic device improves constantly, directly drive reaching its maturity of control technology, for the permanent magnetic linear synchronous motor of Digit Control Machine Tool, be subject to the people's attention, aspect body and control strategy, launch a large amount of research, and obtaining considerable achievement.It is following development trend that high-grade, digitally controlled machine tools adopt linear electric motors to drive, high thrust linear electric motors are becoming the key foundation parts of high-grade, digitally controlled machine tools, country is also by the research of vigorously supporting and advance linear electric motors control with Driving technique, so the new control technology of research linear electric motors, raising China is significant in theoretical research and the commercial Application level in linear electric motors field.

Since nearly half a century, although the technology of feeding drive of Digit Control Machine Tool is being updated, but most of servo system feeding modes are still " electric rotating machine+leading screw ", system stiffness reduces greatly, intermediate link has reduced its rapidity when acceleration and deceleration, and this has affected the servo performance of servo system greatly.And permanent magnet linear synchronous motor utilizes high-energy permanent magnet, save intermediate conversion mechanism, have that thrust strength is large, loss is low, operational reliability is high, time constant is little, device is simple, respond the features such as fast, greatly improved quick reaction capability and the kinematic accuracy of feed system.Two end regions unshakable in one's determination due to permanent magnet linear synchronous motor and winding are significantly different from the Distribution of Magnetic Field of intermediate position, add the uncertain factors such as Parameter Perturbation, are difficult to set up accurately the Mathematical Modeling of permanent magnet linear synchronous motor.Meanwhile, because linear electric motors adopt direct drive mode, the uncertain factors such as the load disturbance of system, Parameter Perturbation will directly act on motor, and without any middle buffering course, this has increased the control difficulty of linear electric motors greatly.

At present, both at home and abroad after deliberation and delivered the precision that a lot of control theories and control algolithm are improved navigation system.Yet under the prerequisite of reliability and stability that meets navigation system, it is all the same target of these control theories that site error is decreased to minimum.So high-accuracy Based Intelligent Control has become the trend of numerical control machine tool technique development.In these control strategies, Sliding mode variable structure control has better robustness compared with other control methods, and dynamic property is also better.But the tracking error of traditional Sliding mode variable structure control is larger, system response time is also slower, and this is difficult to meet high precision performance requirement.

In sum, in order to meet the high accuracy of Numeric Control Technology, high-speed servo system performance requirement, need to design and be applicable to high-speed, the high accuracy of permanent magnetic linear synchronous motor and the servo-control system of strong robustness, so the present invention proposes a kind of permanent magnet linear synchronous motor control device and method.

Summary of the invention

The defect existing for prior art, the object of this invention is to provide a kind of permanent magnet linear synchronous motor control device and method, makes the performance of Numeric Control Technology meet the requirement of high accuracy, high-speed and strong robustness.

Technical scheme of the present invention is achieved in that a kind of permanent magnet linear synchronous motor control device, comprising: commutation inversion output circuit, control circuit and permanent magnet linear synchronous motor, wherein,

Commutation inversion output circuit: the alternating current for fixed amplitude phase value that power supply is provided carries out ac-dc-ac transform, obtains amplitude, alternating current that phase value is adjustable, supplies with permanent magnet linear synchronous motor; Commutation inversion output circuit further comprises: current rectifying and wave filtering circuit and IPM inverter circuit:

Current rectifying and wave filtering circuit: by being connected with three-phase alternating-current supply, the alternating current of variation is converted into galvanic current;

IPM inverter circuit: for the DC inverter of current rectifying and wave filtering circuit output is become to alternating current, supply with permanent magnet linear synchronous motor;

Control circuit: for controlling the switching tube break-make of IPM inversion unit, realize the control to permanent magnet linear synchronous motor; Control circuit further comprises: dsp processor, IPM isolation drive protective circuit, current detection circuit and position and speed testing circuit:

Dsp processor: for according to the position, speed and the current signal that receive, carry out complementary Sliding mode variable structure control algorithm, produce the driving signal of controlling the switching tube break-make in IPM inversion unit;

IPM protective separation drive circuit: for isolating IPM inverter circuit and control circuit, and for driving six IGBT work of IPM inverter circuit;

Current detection circuit: for changing the current analog amount of collection into digital quantity that dsp processor can be identified;

Position and speed testing circuit: for the position and speed signal of grating scale collection is converted into the digital quantity that can be identified by dsp processor;

Described current rectifying and wave filtering circuit connects permanent magnet linear synchronous motor through the output of IPM inverter circuit; IPM inverter circuit connects dsp processor Yi road input through current detection circuit; the output of permanent magnet linear synchronous motor is connected to another road input of dsp processor through grating scale, position and speed testing circuit, dsp processor Yi road output is connected to another road input of IPM inverter circuit through IPM protective separation drive circuit.

Signal processing in described DSP is: after given permanent magnet linear synchronous motor position signalling, with the actual position signal detecting through grating scale do poor, produce position error signal, input variable using position error signal as complementary Sliding Mode Controller, through complementary Sliding Mode Controller, calculate current controling signal, current controling signal produces pwm pulse sequence through DSP, pwm pulse sequence is controlled conducting and the shutoff of six IGBT of IPM inverter circuit, be met the three-phase alternating current needing, deliver to the mover of permanent magnet linear synchronous motor, control the mover motion of permanent magnet linear synchronous motor.

A control method, comprises the following steps:

Step 1: given permanent magnet linear synchronous motor position signalling, this position signalling is converted to the voltage and current signal of controlling motor rotation, makes motor setting in motion;

Step 2: the absolute fix signal, rate signal and the current signal that gather permanent magnet linear synchronous motor mover;

After motor movement, grating scale is through position and speed testing circuit output two-phase quadrature square-wave pulse signal and zero pulse signal, Gong San road pulse signal, pulse signal send dsp processor, carry out quadruple processing, from the pulse number of two-phase quadrature square-wave pulse signal, determine the position skew of mover, by the lead relationship of two-phase pulse, obtain turning to of mover, obtain the position signalling of mover; Dsp processor trapped inside unit paired pulses is counted, then divided by the sampling period, obtains the speed of permanent magnet linear synchronous motor according to umber of pulse; Utilize current sensor to gather mover electric current;

Step 3: the data of utilizing step 2 to calculate, adopt complementary Sliding mode variable structure control algorithm, draw control rate, i.e. the control electric current of permanent magnet linear synchronous motor, whole computational process all realizes in DSP.Concrete steps are as follows:

Step 3.1: the absolute fix signal of given permanent magnet linear synchronous motor position signalling and permanent magnet linear synchronous motor mover is poor, obtain system tracking error e and be:

e＝d _m(t)-d(t) (1)

Wherein, d is permanent magnetic linear synchronous motor rotor position, d _mfor given position;

Step 3.2: set up mechanical movement equation and the dynamical equation of permanent magnet linear synchronous motor, the system tracking error obtaining for step 3.1, designs complementary Sliding Mode Controller, and controlled rate is specific as follows:

Step 3.2.1: set up mechanical movement equation and the system dynamical equation of permanent magnet linear synchronous motor, determine permanent magnet linear synchronous motor rotor position and control current relation formula;

Set up d-q axis coordinate system: for permanent magnet linear synchronous motor, getting permanent magnet first-harmonic excitation field axis (permanent magnet pole axis) is d axle, and leading d axle 90 degree electric degree angles are q axle;

Make current inner loop d shaft current component i _d=0, make spatially quadrature of stator current vector and magnetic field of permanent magnet, the electromagnetic push equation of permanent magnet linear synchronous motor and mechanical movement equation expression formula are:

F _e＝K _fi _q (2)

$F_e=M\stackrel{\·}{v}+\mathrm{Bv}+F---\left(3\right)$

In formula, K _ffor electromagnetic push constant, i _qfor q shaft current, the load-carrying gross mass of the mover that M is permanent magnet linear synchronous motor and mover, B is viscous friction coefficient, v is mover speed,

the first derivative that represents mover speed, i.e. mover acceleration, F is disturbance, comprises that the parameter of electric machine changes, system external disturbance and non-linear friction power;

Ignore the impact of disturbance F, the dynamical equation that utilizes mechanical movement equation (3) to obtain under perfect condition is

$\stackrel{\·\·}{d}\left(t\right)=-\frac{B}{M}\stackrel{\·}{d}\left(t\right)+\frac{K_f}{M}{i}_q=A_n\stackrel{\·}{d}\left(t\right)+B_{n}u---\left(4\right)$

In formula,

for the second dervative of rotor position, represent mover acceleration,

for the first derivative of rotor position, represent mover speed, u is controller output, u=i _q, i.e. q shaft current, A _n=-B/M, B _n=K _f/ M;

In the situation that having disturbance F, dynamical equation is:

$\begin{array}{c}\stackrel{\·\·}{d}\left(t\right)=(A_n+\mathrm{\ΔA})\stackrel{\·}{d}\left(t\right)+(B_n+\mathrm{\ΔB})u+(C_n+\mathrm{\ΔC})F\\ =A_n\stackrel{\·}{d}\left(t\right)+B_{n}u+H\end{array}---\left(5\right)$

In formula, C _n=-1/M, Δ A, Δ B and Δ C are system parameters M and the caused Uncertainty of B, H is lump indeterminate, is expressed as:

$H=\mathrm{\ΔA}\stackrel{\·}{d}\left(t\right)+\mathrm{\ΔBu}+(C_n+\mathrm{\ΔC})F---\left(6\right)$

Here, suppose lump indeterminate H bounded, | H|≤ρ, wherein ρ is a given normal number;

Step 3.2.2: design complementary Sliding Mode Controller, set up broad sense sliding-mode surface s _gwith complementary sliding-mode surface s _c, determine two sliding-mode surface relations;

Broad sense sliding surface s _gbe defined as:

$s_g={(\frac{d}{\mathrm{dt}}+\mathrm{\λ})}^2{\∫}_0^{t}e\left(\mathrm{\τ}\right)\mathrm{d\τ}---\left(7\right)$

$=\stackrel{\·}{e}+2\mathrm{\λe}+{\mathrm{\λ}}^2{\∫}_0^{t}e\left(\mathrm{\τ}\right)\mathrm{d\τ}$

In formula, λ is a normal number,

for the first derivative of tracking error, and then obtain following formula:

${\stackrel{\·}{s}}_g=\stackrel{\·\·}{e}+2\mathrm{\λ}\stackrel{\·}{e}+{\mathrm{\λ}}^{2}e$ $=[{\stackrel{\·\·}{d}}_m\left(t\right)-\stackrel{\·\·}{d}\left(t\right)]+2\mathrm{\λ}\stackrel{\·}{e}+{\mathrm{\λ}}^{2}e---\left(8\right)$

$=[{\stackrel{\·\·}{d}}_m\left(t\right)-A_n\stackrel{\·}{d}\left(t\right)-B_{n}u-H]+2\mathrm{\λ}\stackrel{\·}{e}+{\mathrm{\λ}}^{2}e$

In formula,

for broad sense sliding surface s _gfirst derivative,

for the second dervative of tracking error, second dervative for given position signal;

Complementary sliding surface s _cbe defined as:

$s_c=(\frac{d}{\mathrm{dt}}+\mathrm{\λ})(\frac{d}{\mathrm{dt}}-\mathrm{\λ}){\∫}_0^{t}e\left(\mathrm{\τ}\right)\mathrm{d\τ}---\left(9\right)$

$=\stackrel{\·}{e}-{\mathrm{\λ}}^2{\∫}_0^{t}e\left(\mathrm{\τ}\right)\mathrm{d\τ}$

According to broad sense sliding surface s _gwith complementary sliding surface s _cobtain sliding surface summation σ, formula is as follows:

$\mathrm{\σ}\left(t\right)=s_g+s_c=2(\stackrel{\·}{e}+\mathrm{\λe})---\left(10\right)$

Determine broad sense sliding surface s _gwith complementary sliding surface s _cpass be

${\stackrel{\·}{s}}_c+\mathrm{\λ\σ}\left(t\right)={\stackrel{\·}{s}}_g---\left(11\right)$

Step 3.2.3: according to sliding formwork equivalent control part u _eqwith sliding formwork switching control part u _v, determine Sliding mode variable structure control rate u, formula is:

u＝u _eq+u _v (12)

$u_{\mathrm{eq}}=\frac{1}{B_n}[{\stackrel{\·\·}{d}}_m\left(t\right)-A_n\stackrel{\·}{d}\left(t\right)+\mathrm{\λ}(2\stackrel{\·}{e}+\mathrm{\λe}+s_g)]---\left(13\right)$

$u_v=\frac{1}{B_n}\left[\mathrm{\ρsat}\left(\frac{s_g+s_c}{\mathrm{\Φ}}\right)\right]---\left(14\right)$

In formula, Φ is boundary layer thickness, and sat () represents saturation function, and formula is as follows:

$\mathrm{sat}\left(\frac{s_g+s_c}{\mathrm{\&Phi;}}\right)=\left\{\begin{array}{cc}1& s_g+s_c\&GreaterEqual;\mathrm{\&Phi;}\\ \frac{s_g+s_c}{\mathrm{\&Phi;}}& -\mathrm{\&Phi;}<s_g+s_c<\mathrm{\&Phi;}\\ -1& s_g+s_c\&le;-\mathrm{\&Phi;}\end{array}\right.---\left(15\right)$

The Sliding mode variable structure control rate u of step 3.2.4: step 3.2.3 output is current controling signal, and this current signal, through IPM inverter circuit, drives permanent magnet linear synchronous motor motion;

The current controling signal that step 4:DSP processor is adjusted according to step 3, DSP produces corresponding six road pwm pulse signals, drives permanent magnet linear synchronous motor operation.

By photoelectric isolating driving circuit, convert the pwm signal of DSP output to driving signal, fixing 220V three-phase alternating current is after current rectifying and wave filtering circuit, become galvanic current and deliver to IPM, IPM produces according to DSP conducting and the shutoff that Liu road pwm pulse signal is controlled six IGBT in IPM inverter circuit, be met the three-phase alternating current needing, drive the operation of permanent magnet linear synchronous motor mover.

Beneficial effect of the present invention: the present invention adopts complementary Sliding Mode Controller that position error signal is processed and calculated, the design that sliding-mode surface has adopted broad sense sliding-mode surface to combine with complementary sliding-mode surface, this design can make system mode move to the intersection point place of two sliding-mode surfaces, and then make system have more traditional control response speed faster, and site error precision is improved significantly, and complementary Sliding mode variable structure control still has the strong robustness feature of traditional sliding formwork.Adopt said method, also make that permanent magnet linear synchronous motor has at a high speed, the servo system performance of high accuracy and strong robustness.

Accompanying drawing explanation

Fig. 1 is a kind of permanent magnet linear synchronous motor control device of one embodiment of the present invention general construction block diagram;

Fig. 2 is the structural representation of a kind of permanent magnet linear synchronous motor control device of one embodiment of the present invention;

Fig. 3 is the circuit theory diagrams of one embodiment of the present invention commutation inversion output circuit;

Fig. 4 is one embodiment of the present invention dsp processor circuit theory diagrams;

Fig. 5 is the circuit theory diagrams of the level-conversion circuit of one embodiment of the present invention DSP power supply;

Fig. 6 is the circuit theory diagrams of one embodiment of the present invention Fault signal acquisition circuit;

Fig. 7 is the circuit theory diagrams of one embodiment of the present invention DSP crystal oscillating circuit;

Fig. 8 is the circuit theory diagrams of one embodiment of the present invention jtag circuit;

Fig. 9 is the circuit theory diagrams of one embodiment of the present invention DSP reset circuit;

Figure 10 is the complementary Sliding Mode Controller structural representation of one embodiment of the present invention;

Figure 11 is the circuit theory diagrams of one embodiment of the present invention IPM protective separation drive circuit;

Figure 12 is the circuit theory diagrams of one embodiment of the present invention current detection circuit;

Figure 13 is the circuit theory diagrams of one embodiment of the present invention position and speed testing circuit;

Figure 14 is the permanent magnet linear synchronous motor control method flow chart of one embodiment of the present invention based on complementary sliding moding structure;

System tracking error curve chart based on traditional Sliding Mode Controller when Figure 15 is the zero load of embodiment of the present invention permanent magnet linear synchronous motor;

System tracking error curve chart based on complementary Sliding Mode Controller when Figure 16 is the zero load of embodiment of the present invention permanent magnet linear synchronous motor;

Figure 17 is embodiment of the present invention permanent magnet linear synchronous motor load system tracking error curve chart based on traditional Sliding Mode Controller while being 40N;

Figure 18 is embodiment of the present invention permanent magnet linear synchronous motor load system tracking error curve chart based on complementary Sliding Mode Controller while being 40N.

Embodiment

Below in conjunction with accompanying drawing, embodiments of the present invention are described in further detail.

A control device, its general structure as shown in Figure 1, comprising: commutation inversion output circuit 1, control circuit 2 and permanent magnet linear synchronous motor 3.Wherein, commutation inversion output circuit 1 further comprises current rectifying and wave filtering circuit 4 and IPM inverter circuit 5; Control circuit 2 further comprises IPM protective separation drive circuit 6, current detection circuit 7, position and speed testing circuit 8 and dsp processor 9.In addition, between permanent magnet linear synchronous motor 3 and position and speed testing circuit 8, be also connected with grating scale 11, be used for gathering actual position signal and the rate signal of permanent magnet linear synchronous motor 3.At the output of IPM inverter circuit 5 and the input of current detection circuit 7, be also connected with Hall element 10, be used for gathering current signal actual value, its overall structure schematic diagram is as shown in Figure 2.

In Fig. 2, commutation inversion output circuit 1, as the input of whole control device, is used for receiving the signal by the final movement position of the given permanent magnet linear synchronous motor of user.The alternating current of the fixed amplitude phase value that commutation inversion output circuit provides power supply passes through rectification circuit, obtain galvanic current, then direct current is by IPM inverter circuit, and inversion, for driving the three-phase alternating current of permanent magnet linear synchronous motor, drives permanent magnet linear synchronous motor motion.

In commutation inversion output circuit 1, being connected with IPM inverter circuit 5 of current rectifying and wave filtering circuit 4.Commutation inversion output circuit schematic diagram as shown in Figure 3.Current rectifying and wave filtering circuit 4 is used for obtaining galvanic current, and the stable DC electricity inversion that IPM inverter circuit 5 is used for current rectifying and wave filtering circuit 4 to obtain is the three-phase alternating current of satisfying the demand.

Rectifier bridge anodic bonding in current rectifying and wave filtering circuit 4 is to the N end of IPM main power source, and its negative electrode is connected to the P end of IPM main power source, and the three-phase current of IPM output passes through lead-out terminal U, V, and W is connected to permanent magnetic linear synchronous motor PMLSM.P, N are the IPM main power source input terminal after the rectifying conversion smothing filtering of frequency converter, and P is anode, and N is negative terminal.Rectification filtering unit adopts the uncontrollable rectifier system of bridge-type, and large capacitor filtering, can obtain the constant voltage that is suitable for IPM work like this.

In present embodiment, if after normally opened contact switch A closure, relay k obtains electric, then get an electric shock K and electric shock k are all closed, and now whole commutation inversion output circuit and permanent magnet linear synchronous motor are started working.After machine operation, if disconnect normally-closed contact switch B, relay electric-loss, electric shock K and electric shock k all disconnect, and now whole system quits work.During circuit working, three-phase alternating current is through transformer, by 220V voltage transition, it is the three-phase alternating current that effective value size is about IPM input terminal voltage size, then through rectifier bridge transistor circuit, obtain the direct voltage of pulsation, after large capacitor C filtering, can make the direct voltage of pulsation become stable or level and smooth, then stable voltage is added in to the PN two ends of IPM.The direct current now having converted is by IPM inverter circuit, and inversion is the variable-frequency frequency conversion three-phase alternating current of pressure-variable, drives permanent magnet linear synchronous motor.Wherein the IGBT in IPM inverter circuit is that the pwm pulse sequence of being exported by control circuit is controlled its break-make, and object is in order to be met the three-phase alternating current of the amplitude phase place of requirement.

In control circuit 2; dsp processor 9 receives from the output signal of current detection circuit 7 and the defeated place signal of position and speed testing circuit 8; through the processing of 9 pairs of these two paths of signals of dsp processor, consequential signal is exported to IPM inverter circuit 5 through IPM protective separation drive circuit 6.In present embodiment, the model of dsp processor is TMS320F2812, and its peripheral circuit syndeton schematic diagram as shown in Figure 4.Dsp processor peripheral circuit comprises level shifting circuit 12, Fault signal acquisition circuit 13, DSP crystal oscillating circuit 14, jtag circuit 15, DSP reset circuit 16, as shown in Fig. 5～9.

Level shifting circuit is converted to 12V supply voltage the 3.3V operating voltage of DSP power supply.Fault signal acquisition circuit is connected with dsp processor external interrupt pin, by dsp processor interrupt routine, carrys out handling failure.Crystal oscillating circuit provides the operating frequency of 30MHz for dsp processor, and the pin 1 of crystal oscillating circuit and pin 4 are connected respectively X1 (77 pin), X2 (76 pin) interface of DSP.Jtag circuit is for the electrical characteristic of test chip, and whether detection chip has problem, and the pin 1,2,3,5,7,11,13,14 of jtag interface circuit connects respectively the pin 126,135,131,69,127,136,137,146 of DSP.Reset circuit is for returning to initial state by whole circuit, and in reset circuit, 1 pin of DS1818 connects 160 pin of DSP.

IPM protective separation drive circuit, as shown in figure 11.IPM protective separation drive circuit has the feature of high integration and small size, and its inside has encapsulated gate-drive control circuit, failure detector circuit and various protective circuit, with IPM protective separation drive circuit, replaces power device as power device.Electric current passes in permanent magnet linear synchronous motor after processing by IPM, and motor is realized motion.In the process of motor movement, grating scale detects position and the speed of motor, and current detecting is realized by Hall element.Position, speed and three detection limits of electric current are sent into dsp processor by testing circuit, and the computing through the control algolithm in DSP, is sent to operation result in IPM module, and the control by power device break-make in IPM module, realizes the control to motor.

Biphase current after the output of IPM inverter circuit is connected with two-way current detection circuit through Hall current sensor, and PMLSM is connected with position and speed testing circuit through grating scale.The control terminal of IPM is connected with IPM isolation drive protective circuit.The input of IPM isolation drive is connected with the PWM port of DSP, and the output of current detection circuit is connected with the ADC port of DSP, and the output of position and speed testing circuit is connected with the QEP port of DSP.

Current detection circuit, as shown in figure 12.Current detection circuit is three phase promoter electric currents of permagnetic synchronous motor to be entered to DSP after transducer convert to and be digital form and carry out a series of conversion.Because native system is three-phase balanced system, three-phase current vector is zero, therefore only need to detect wherein biphase current, just can obtain three-phase current.Native system adopts LTS25-NP type transducer to detect electric current.

Position and speed testing circuit, as shown in figure 13.Grating scale signal can not be directly connected to DSP pin, so by square-wave pulse signal A and the B of two-phase quadrature, by high speed photo coupling HCPL4504, deliver to two capturing unit QEP1 of DSP (106 pin) and QEP2 (107 pin).DSP trapped inside unit can be used software definition for quadrature coding pulse input unit, can count by paired pulses afterwards, can judge the direction of motion, position and the speed of permanent magnet linear synchronous motor according to pulse train.

Complementary Sliding Mode Controller is in the interior realization of dsp processor 9, and the result isoboles of complementary Sliding mode variable structure control in dsp processor 9 as shown in figure 10.Complementary Sliding Mode Controller be input as position error signal, given position signal and actual position signal is poor.

Signal processing in described DSP is: after given permanent magnet linear synchronous motor position signalling, with the actual position signal detecting through grating scale do poor, produce position error signal, input variable using position error signal as complementary Sliding Mode Controller, through complementary Sliding Mode Controller, calculate current controling signal, current controling signal produces pwm pulse sequence through DSP, pwm pulse sequence is controlled conducting and the shutoff of six IGBT of IPM inverter circuit, be met the three-phase alternating current needing, deliver to the mover of permanent magnet linear synchronous motor, control the mover motion of permanent magnet linear synchronous motor.

The method that the permanent magnet linear synchronous motor control device based on complementary sliding moding structure that present embodiment adopts is controlled permagnetic synchronous motor, as shown in figure 14, comprises the following steps:

Step 1: given permanent magnet linear synchronous motor position signalling, this position signalling is converted to the voltage and current signal of controlling motor rotation, makes motor setting in motion;

Step 2: the absolute fix signal, rate signal and the mover electric current that gather permanent magnet linear synchronous motor mover;

After motor movement, grating scale is through position and speed testing circuit output two-phase quadrature square-wave pulse signal and zero pulse signal, Gong San road pulse signal, pulse signal send dsp processor, carry out quadruple processing, from the pulse number of two-phase quadrature square-wave pulse signal, determine the position skew of mover, by the lead relationship of two-phase pulse, obtain turning to of mover, obtain the position signalling of mover; Dsp processor trapped inside unit paired pulses is counted, then divided by the sampling period, obtains the speed of permanent magnet linear synchronous motor according to umber of pulse; Utilize Hall element to gather mover electric current.

Step 3: the data of utilizing step 2 to calculate, adopt complementary Sliding mode variable structure control algorithm to adjust the position signalling of permanent magnet linear synchronous motor mover, concrete steps are as follows:

Step 3.1: the absolute fix signal of given permanent magnet linear synchronous motor position signalling and permanent magnet linear synchronous motor mover is poor, obtain system tracking error e and be:

e＝d _m(t)-d(t) (1)

Wherein, d is permanent magnetic linear synchronous motor rotor position, d _mfor given position.

Step 3.2: set up permanent magnet linear synchronous motor system equation, the system tracking error obtaining for step 3.1, designs complementary Sliding Mode Controller, and controlled rate is specific as follows:

Step 3.2.1: set up mechanical movement equation and the system dynamical equation of permanent magnet linear synchronous motor, determine permanent magnet linear synchronous motor rotor position and control current relation formula;

Set up d-q axis coordinate system: for permanent magnet linear synchronous motor, getting permanent magnet first-harmonic excitation field axis (permanent magnet pole axis) is d axle, and leading d axle 90 degree electric degree angles are q axle;

Make current inner loop d shaft current component i _d=0, make spatially quadrature of stator current vector and magnetic field of permanent magnet, the electromagnetic push equation of permanent magnet linear synchronous motor and mechanical movement equation expression formula are:

F _e＝K _fi _q (2)

$F_e=M\stackrel{\&CenterDot;}{v}+\mathrm{Bv}+F---\left(3\right)$

In formula, K _ffor electromagnetic push constant, i _qfor q shaft current, the load-carrying gross mass of the mover that M is permanent magnet linear synchronous motor and mover, B is viscous friction coefficient, v is mover speed,

the first derivative that represents mover speed, i.e. mover acceleration, F is disturbance, comprises that the parameter of electric machine changes, system external disturbance and non-linear friction power;

Ignore the impact of disturbance F, utilize mechanical movement equation (3) to obtain the dynamical equation under perfect condition, formula is as follows:

$\stackrel{\&CenterDot;\&CenterDot;}{d}\left(t\right)=-\frac{B}{M}\stackrel{\&CenterDot;}{d}\left(t\right)+\frac{K_f}{M}{i}_q=A_n\stackrel{\&CenterDot;}{d}\left(t\right)+B_{n}u---\left(4\right)$

In formula,

for the second dervative of rotor position, represent mover acceleration, for the first derivative of rotor position, represent mover speed, u is controller output, A _n=-B/M, B _n=K _f/ M;

In the situation that having disturbance F, dynamical equation is:

$\begin{array}{c}\stackrel{\&CenterDot;\&CenterDot;}{d}\left(t\right)=(A_n+\mathrm{\&Delta;A})\stackrel{\&CenterDot;}{d}\left(t\right)+(B_n+\mathrm{\&Delta;B})u+(C_n+\mathrm{\&Delta;C})F\\ =A_n\stackrel{\&CenterDot;}{d}\left(t\right)+B_{n}u+H\end{array}---\left(5\right)$

In formula, C _n=-1/M, Δ A, Δ B and Δ C are system parameters M and the caused Uncertainty of B, H is lump indeterminate, is expressed as:

$H=\mathrm{\&Delta;A}\stackrel{\&CenterDot;}{d}\left(t\right)+\mathrm{\&Delta;Bu}+(C_n+\mathrm{\&Delta;C})F---\left(6\right)$

Here, suppose lump indeterminate H bounded, | H|≤ρ, wherein ρ is a given normal number.Controlling object is a control system of design, so that rotor position d (t) can any given instruction d of asymptotic tracking _m(t), suppose d _mand its first derivative (t)

second dervative

it is all the bounded function about the time.

Step 3.2.2: design complementary Sliding Mode Controller, set up broad sense sliding-mode surface s _gwith complementary sliding-mode surface s _c, determine two sliding-mode surface relations;

In order to realize in the situation that uncertain factor exists, permanent magnet linear synchronous motor mover physical location d (t) can accurate tracking given position d _m(t), designed complementary Sliding Mode Controller, in order to solve control problem, need to find a control rate, reached control target, according to the tracking error of step 3.1 definition, broad sense sliding surface s _gbe defined as:

$s_g={(\frac{d}{\mathrm{dt}}+\mathrm{\&lambda;})}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(7\right)$

$=\stackrel{\&CenterDot;}{e}+2\mathrm{\&lambda;e}+{\mathrm{\&lambda;}}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}$

In formula, λ is a normal number,

for the first derivative of tracking error, formula (6) to be differentiated, convolution (5), obtains following formula:

${\stackrel{\&CenterDot;}{s}}_g=\stackrel{\&CenterDot;\&CenterDot;}{e}+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e$ $=[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-\stackrel{\&CenterDot;\&CenterDot;}{d}\left(t\right)]+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e---\left(8\right)$

$=[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-A_n\stackrel{\&CenterDot;}{d}\left(t\right)-B_{n}u-H]+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e$

In formula,

for broad sense sliding surface s _gfirst derivative,

for the second dervative of tracking error,

second dervative for given position signal.

Then, design complementary sliding surface s _cfor:

$s_c=(\frac{d}{\mathrm{dt}}+\mathrm{\&lambda;})(\frac{d}{\mathrm{dt}}-\mathrm{\&lambda;}){\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(9\right)$ $=\stackrel{\&CenterDot;}{e}-{\mathrm{\&lambda;}}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}$

Corresponding to same normal number λ, according to broad sense sliding surface s _gwith complementary sliding surface s _cobtain sliding surface summation σ, formula is as follows:

$\mathrm{\&sigma;}\left(t\right)=s_g+s_c=2(\stackrel{\&CenterDot;}{e}+\mathrm{\&lambda;e})---\left(10\right)$

Determine broad sense sliding surface s _gwith complementary sliding surface s _cpass be

${\stackrel{\&CenterDot;}{s}}_c+\mathrm{\&lambda;\&sigma;}\left(t\right)={\stackrel{\&CenterDot;}{s}}_g---\left(11\right)$

The liapunov function that complementary Sliding Mode Variable Structure System is selected is:

$V=\frac{1}{2}(s_{\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA0000415805520000011.png,HDA0000415805520000023.png"\; state="\{\{state\}\}">g</figure-callout>}}^2+s_c^2)---\left(12\right)$

To liapunov function differentiate, convolution (8) and formula (11), can obtain

$\begin{array}{c}\stackrel{\&CenterDot;}{V}=s_g{\stackrel{\&CenterDot;}{s}}_g+s_c{\stackrel{\&CenterDot;}{s}}_c\\ =(s_g+s_c)[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-A_n\stackrel{\&CenterDot;}{d}\left(t\right)-B_{n}u-H+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e-\mathrm{\&lambda;}{s}_c]\end{array}---\left(13\right)$

Step 3.2.3: according to the formula in step 3.2.2 (13), obtain complementary Sliding mode variable structure control rate u;

u＝u _eq+u _v (14)

$u_{\mathrm{eq}}=\frac{1}{B_n}[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-A_n\stackrel{\&CenterDot;}{d}\left(t\right)+\mathrm{\&lambda;}(2\stackrel{\&CenterDot;}{e}+\mathrm{\&lambda;e}+s_g)]---\left(15\right)$

$u_v=\frac{1}{B_n}\left[\mathrm{\&rho;sat}\left(\frac{s_g+s_c}{\mathrm{\&Phi;}}\right)\right]---\left(16\right)$

In formula, u _eqrepresent sliding formwork equivalent control part, u _vrepresent sliding formwork switching control part, Φ is boundary layer thickness, and sat () represents saturation function, and formula is as follows:

$\mathrm{sat}\left(\frac{s_g+s_c}{\mathrm{\&Phi;}}\right)=\left\{\begin{array}{cc}1& s_g+s_c\&GreaterEqual;\mathrm{\&Phi;}\\ \frac{s_{g+}{s}_c}{\mathrm{\&Phi;}}& -\mathrm{\&Phi;}<s_g+s_c<\mathrm{\&Phi;}\\ -1& s_g+s_c\&le;-\mathrm{\&Phi;}\end{array}\right.---\left(17\right)$

By formula (8), formula (11) and formula (14)-(16), substitution, to formula (13), can obtain:

$\stackrel{\&CenterDot;}{V}=-\mathrm{\&lambda;}{(s_g+s_c)}^2+(s_g+s_c)(-B_n{u}_v)+(s_g+s_c)(-H)$

$\begin{array}{c}\&le;-\mathrm{\&lambda;}{(s_g+s_c)}^2+(s_g+s_c)(-B_n{u}_v)+|s_g+s_c|\left|H\right|\\ \&le;-\mathrm{\&lambda;}{(s_g+s_c)}^2+|s_g+s_c|\left(\right|H|-\mathrm{\&rho;})\end{array}---\left(18\right)$

$=-\mathrm{\&lambda;}{(s_g+s_c)}^2-\mathrm{\&mu;}|s_g+s_c|\&le;0$

Wherein, | s _g+ s _c|>=Φ, μ be one on the occasion of.This has guaranteed that site error can arrive boundary layer in finite time arbitrarily, | s _g+ s _c|≤Φ.In addition, the ultimate bound of position tracking error can be defined as following formula:

$\left|e\right|\&le;\frac{\mathrm{\&Phi;}}{2\mathrm{\&lambda;}},\left|\stackrel{\&CenterDot;}{e}\right|\&le;\mathrm{\&Phi;}---\left(19\right)$

Wherein, random time has in boundary layer | s _g+ s _c|≤Φ.

Because two sliding-mode surfaces meet the arrival condition of formula (18) simultaneously, the tracking error starting from so outside boundary layer can arrive boundary layer in finite time, and along two sliding-mode surface (s _g=s _c=0) common factor slides to zero neighborhood of a point,

with

therefore, can guarantee the stability of complementary Sliding mode variable structure system and in the convergence of the tracking error in finite time inner sealing region.

The Sliding mode variable structure control rate u of step 3.2.4: step 3.2.3 output is current controling signal, and this current signal, through IPM inverter circuit, drives permanent magnet linear synchronous motor motion;

The current controling signal that step 4:DSP processor is adjusted according to step 3, DSP produces corresponding six road pwm pulse signals, drives permanent magnet linear synchronous motor operation.

By photoelectric isolating driving circuit, convert the pwm signal of DSP output to driving signal, fixing 220V three-phase alternating current is after current rectifying and wave filtering circuit, become galvanic current and deliver to IPM, IPM produces according to DSP conducting and the shutoff that Liu road pwm pulse signal is controlled six IGBT in IPM inverter circuit, be met the three-phase alternating current needing, drive the operation of permanent magnet linear synchronous motor mover.

In order to verify the validity of this algorithm, select permanent magnet linear synchronous motor parameter as follows: electromagnetic push constant K _f=50.7N/A, the mover mass M=16.4kg of permanent magnet linear synchronous motor, viscous friction coefficient B=8.0Ns/m.Adopt MATLAB to carry out emulation.

According to the parameter of electric machine providing, and in the present invention, design complementary Sliding Mode Controller, through MATLAB, repeatedly debug, make effect optimum, parameter is selected as follows: ρ=1.5, λ=8.5, Φ=0.0015.Tracking signal d _mgiven signal is as follows: 0～10 second for amplitude is 1mm, the sine wave that frequency is 0.2Hz; 10～20 seconds for amplitude is 1mm, the sine wave that frequency is 0.3Hz.

Load is chosen as zero load and load is two kinds of situations of 40N.When permanent magnet linear synchronous motor is unloaded, as shown in figure 15, the system tracking error curve based on complementary Sliding Mode Controller as shown in figure 16 for the system tracking error curve based on traditional Sliding Mode Controller; When permanent magnet linear synchronous motor load is 40N, as shown in figure 17, the system tracking error curve based on complementary Sliding Mode Controller as shown in figure 18 for the system tracking error curve based on traditional Sliding Mode Controller.

According to analogous diagram, can find out, the in the situation that of unloaded and load 40N, the tracking error of complementary Sliding Mode Variable Structure System is half left and right of the tracking error of traditional Sliding Mode Variable Structure System.And two kinds of Sliding Mode Variable Structure System are compared, the tracking error of complementary Sliding Mode Variable Structure System can comparatively fast level off to zero.From analogous diagram, can find out, complementary Sliding mode variable structure control has improved the tracking accuracy of system, and the dynamic response of system is faster, has stronger robust performance simultaneously, has verified the validity of this algorithm.

Although more than described the specific embodiment of the present invention, the those skilled in the art in this area should be appreciated that these only illustrate, and can make various changes or modifications to these execution modes, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited by appended claims.

Claims (4)

1. a permanent magnet linear synchronous motor control device, is characterized in that: comprising: commutation inversion output circuit, control circuit and permanent magnet linear synchronous motor, wherein,

Commutation inversion output circuit: the alternating current for fixed amplitude phase value that power supply is provided carries out ac-dc-ac transform, obtains amplitude, alternating current that phase value is adjustable, supplies with permanent magnet linear synchronous motor; Commutation inversion output circuit further comprises: current rectifying and wave filtering circuit and IPM inverter circuit:

Current rectifying and wave filtering circuit: by being connected with three-phase alternating-current supply, the alternating current of variation is converted into galvanic current;

IPM inverter circuit: for the DC inverter of current rectifying and wave filtering circuit output is become to alternating current, supply with permanent magnet linear synchronous motor;

Control circuit: for controlling the switching tube break-make of IPM inversion unit, realize the control to permanent magnet linear synchronous motor; Control circuit further comprises: dsp processor, IPM isolation drive protective circuit, current detection circuit and position and speed testing circuit:

Dsp processor: for according to the position, speed and the current signal that receive, carry out complementary Sliding mode variable structure control algorithm, produce the driving signal of controlling the switching tube break-make in IPM inversion unit;

IPM protective separation drive circuit: for isolating IPM inverter circuit and control circuit, and for driving six IGBT work of IPM inverter circuit;

Current detection circuit: for changing the current analog amount of collection into digital quantity that dsp processor can be identified;

Position and speed testing circuit: for the position and speed signal of grating scale collection is converted into the digital quantity that can be identified by dsp processor.

2. permanent magnet linear synchronous motor control device according to claim 1; it is characterized in that: described current rectifying and wave filtering circuit connects permanent magnet linear synchronous motor through the output of IPM inverter circuit; IPM inverter circuit connects dsp processor Yi road input through current detection circuit; the output of permanent magnet linear synchronous motor is connected to another road input of dsp processor through grating scale, position and speed testing circuit, dsp processor Yi road output is connected to another road input of IPM inverter circuit through IPM protective separation drive circuit.

3. permanent magnet linear synchronous motor control device according to claim 2, it is characterized in that: in described dsp processor, the process of processing signals is: after given permanent magnet linear synchronous motor position signalling, with the actual position signal detecting through grating scale do poor, produce position error signal, input variable using position error signal as complementary Sliding Mode Controller, through complementary Sliding Mode Controller, calculate current controling signal, current controling signal produces pwm pulse sequence through DSP, pwm pulse sequence is controlled conducting and the shutoff of six IGBT of IPM inverter circuit, be met the three-phase alternating current needing, deliver to the mover of permanent magnet linear synchronous motor, control the mover motion of permanent magnet linear synchronous motor.

4. a permanent magnet linear synchronous motor control method, controls permanent magnet linear synchronous motor control device claimed in claim 1, it is characterized in that; Comprise the following steps:

Step 1: given permanent magnet linear synchronous motor position signalling, this position signalling is converted to the voltage and current signal of controlling motor rotation, makes motor setting in motion;

Step 2: the absolute fix signal, rate signal and the current signal that gather permanent magnet linear synchronous motor mover;

After motor movement, grating scale is through position and speed testing circuit output two-phase quadrature square-wave pulse signal and zero pulse signal, Gong San road pulse signal, pulse signal send dsp processor, carry out quadruple processing, from the pulse number of two-phase quadrature square-wave pulse signal, determine the position skew of mover, by the lead relationship of two-phase pulse, obtain turning to of mover, obtain the position signalling of mover; Dsp processor trapped inside unit paired pulses is counted, then divided by the sampling period, obtains the speed of permanent magnet linear synchronous motor according to umber of pulse; Utilize current sensor to gather mover electric current;

Step 3: the data of utilizing step 2 to calculate, adopt complementary Sliding mode variable structure control algorithm, draw control rate, i.e. the control electric current of permanent magnet linear synchronous motor, whole computational process all realizes in DSP.Concrete steps are as follows:

Step 3.1: the absolute fix signal of given permanent magnet linear synchronous motor position signalling and permanent magnet linear synchronous motor mover is poor, obtain system tracking error e and be:

e＝d _m(t)-d(t) (1)

Wherein, d is permanent magnetic linear synchronous motor rotor position, d _mfor given position;

Step 3.2: set up mechanical movement equation and the dynamical equation of permanent magnet linear synchronous motor, the system tracking error obtaining for step 3.1, designs complementary Sliding Mode Controller, and controlled rate is specific as follows:

Step 3.2.1: set up mechanical movement equation and the system dynamical equation of permanent magnet linear synchronous motor, determine permanent magnet linear synchronous motor rotor position and control current relation formula;

Set up d-q axis coordinate system: for permanent magnet linear synchronous motor, getting permanent magnet first-harmonic excitation field axis (permanent magnet pole axis) is d axle, and leading d axle 90 degree electric degree angles are q axle;

Make current inner loop d shaft current component i _d=0, make spatially quadrature of stator current vector and magnetic field of permanent magnet, the electromagnetic push equation of permanent magnet linear synchronous motor and mechanical movement equation expression formula are:

F _e＝K _fi _q (2)

$F_e=M\stackrel{\&CenterDot;}{v}+\mathrm{Bv}+F---\left(3\right)$

In formula, K _ffor electromagnetic push constant, i _qfor q shaft current, the load-carrying gross mass of the mover that M is permanent magnet linear synchronous motor and mover, B is viscous friction coefficient, v is mover speed, the first derivative that represents mover speed, i.e. mover acceleration, F is disturbance, comprises that the parameter of electric machine changes, system external disturbance and non-linear friction power;

Ignore the impact of disturbance F, the dynamical equation that utilizes mechanical movement equation (3) to obtain under perfect condition is:

$\stackrel{\&CenterDot;\&CenterDot;}{d}\left(t\right)=-\frac{B}{M}\stackrel{\&CenterDot;}{d}\left(t\right)+\frac{K_f}{M}{i}_q=A_n\stackrel{\&CenterDot;}{d}\left(t\right)+B_{n}u---\left(4\right)$

In formula,

for the second dervative of rotor position, represent mover acceleration, for the first derivative of rotor position, represent mover speed, u is controller output, u=i _q, i.e. q shaft current, A _n=-B/M, B _n=K _f/ M;

In the situation that having disturbance F, dynamical equation is:

$\begin{array}{c}\stackrel{\&CenterDot;\&CenterDot;}{d}=(A_n+\mathrm{\&Delta;A})\stackrel{\&CenterDot;}{d}\left(t\right)+(B_n+\mathrm{\&Delta;B})u+(C_n+\mathrm{\&Delta;C})F\\ =A_n\stackrel{\&CenterDot;}{d}\left(t\right)+B_{n}u+H\end{array}---\left(5\right)$

In formula, C _n=-1/M, Δ A, Δ B and Δ C are system parameters M and the caused Uncertainty of B, H is lump indeterminate, is expressed as:

$H=\mathrm{\&Delta;A}\stackrel{\&CenterDot;}{d}\left(t\right)+\mathrm{\&Delta;Bu}+(C_n+\mathrm{\&Delta;C})F---\left(6\right)$

Here, suppose lump indeterminate H bounded, | H|≤ρ, wherein ρ is a given normal number;

Step 3.2.2: design complementary Sliding Mode Controller, set up broad sense sliding-mode surface s _gwith complementary sliding-mode surface s _c, determine two sliding-mode surface relations;

Broad sense sliding surface s _gbe defined as:

$s_g={(\frac{d}{\mathrm{dt}}+\mathrm{\&lambda;})}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(7\right)$

$=\stackrel{\&CenterDot;}{e}+2\mathrm{\&lambda;e}+{\mathrm{\&lambda;}}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}$

In formula, λ is a normal number,

for the first derivative of tracking error, and then obtain following formula:

${\stackrel{\&CenterDot;}{s}}_g=\stackrel{\&CenterDot;\&CenterDot;}{e}+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e$ $=[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-\stackrel{\&CenterDot;\&CenterDot;}{d}\left(t\right)]+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e---\left(8\right)$

$=[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-A_n\stackrel{\&CenterDot;}{d}\left(t\right)-B_{n}u-H]+2\mathrm{\&lambda;}\stackrel{\&CenterDot;}{e}+{\mathrm{\&lambda;}}^{2}e$

In formula,

for broad sense sliding surface s _gfirst derivative,

for the second dervative of tracking error,

second dervative for given position signal;

Complementary sliding surface s _cbe defined as:

$s_c=(\frac{d}{\mathrm{dt}}+\mathrm{\&lambda;})(\frac{d}{\mathrm{dt}}-\mathrm{\&lambda;}){\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(9\right)$

$=\stackrel{\&CenterDot;}{e}-{\mathrm{\&lambda;}}^2{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}$

According to broad sense sliding surface s _gwith complementary sliding surface s _cobtain sliding surface summation σ, formula is as follows:

$\mathrm{\&sigma;}\left(t\right)=s_g+s_c=2(\stackrel{\&CenterDot;}{e}+\mathrm{\&lambda;e})---\left(10\right)$

Determine broad sense sliding surface s _gwith complementary sliding surface s _cpass be

${\stackrel{\&CenterDot;}{s}}_c+\mathrm{\&lambda;\&sigma;}\left(t\right)={\stackrel{\&CenterDot;}{s}}_g---\left(11\right)$

Step 3.2.3: according to sliding formwork equivalent control part u _eqwith sliding formwork switching control part u _v, determine Sliding mode variable structure control rate u, formula is:

u＝u _eq+u _v (12)

$u_{\mathrm{eq}}=\frac{1}{B_n}[{\stackrel{\&CenterDot;\&CenterDot;}{d}}_m\left(t\right)-A_n\stackrel{\&CenterDot;}{d}\left(t\right)+\mathrm{\&lambda;}(2\stackrel{\&CenterDot;}{e}+\mathrm{\&lambda;e}+s_g)]---\left(13\right)$

$u_v=\frac{1}{B_n}\left[\mathrm{\&rho;sat}\left(\frac{s_g+s_c}{\mathrm{\&Phi;}}\right)\right]---\left(14\right)$

In formula, Φ is boundary layer thickness, and sat () represents saturation function, and formula is as follows:

$\mathrm{sat}\left(\frac{s_g+s_c}{\mathrm{\&Phi;}}\right)=\left\{\begin{array}{cc}1& s_g+s_c\&GreaterEqual;\mathrm{\&Phi;}\\ \frac{s_g+s_c}{\mathrm{\&Phi;}}& -\mathrm{\&Phi;}<s_g+s_c<\mathrm{\&Phi;}\\ -1& s_g+s_c\&le;-\mathrm{\&Phi;}\end{array}\right.---\left(15\right)$

The Sliding mode variable structure control rate u of step 3.2.4: step 3.2.3 output is current controling signal, and this current signal, through IPM inverter circuit, drives permanent magnet linear synchronous motor motion;

The current controling signal that step 4:DSP processor is adjusted according to step 3, DSP produces corresponding six road pwm pulse signals, drives permanent magnet linear synchronous motor operation.

By photoelectric isolating driving circuit, convert the pwm signal of DSP output to driving signal, fixing 220V three-phase alternating current is after current rectifying and wave filtering circuit, become galvanic current and deliver to IPM, IPM produces according to DSP conducting and the shutoff that Liu road pwm pulse signal is controlled six IGBT in IPM inverter circuit, be met the three-phase alternating current needing, drive the operation of permanent magnet linear synchronous motor mover.

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