CN104038133B - A kind of permanent magnetic linear synchronous motor shifting sliding surface sliding mode positioning control method - Google Patents
A kind of permanent magnetic linear synchronous motor shifting sliding surface sliding mode positioning control method Download PDFInfo
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Abstract
The present invention relates to a kind of permanent magnetic linear synchronous motor shifting sliding surface sliding mode positioning control method. There is provided a shifting sliding surface System with Sliding Mode Controller to realize the high precision position control of permanent magnetic linear synchronous motor so that system there is good tracking performance there is good robustness and immunity from interference simultaneously. The present invention by adding Sliding Mode Controller in position control outer shroud, alternate position spike is made to become state variables, it is subject to controller control and enters the slip of sliding plane, make location tracking stable and with motor Parameters variation and external disturbance unrelated, directly meet permanent magnetic linear synchronous motor location tracking and anti-interference object; Compared with plane sliding with tradition, the shifting sliding surface designed herein can make permanent magnetic linear synchronous motor have better robustness and immunity from interference what keep quick tracking response simultaneously; System architecture is simple, and stability height, can be applicable in engineering practice.
Description
Technical Field
The invention relates to a sliding mode position control method for a permanent magnet synchronous linear motor translation sliding plane.
Background
The permanent magnet synchronous linear motor is a mechanical device which can directly convert electric energy into mechanical energy without any intermediate conversion mechanism, and has the advantages of simple structure, high precision, high speed, low maintenance and the like. Just because of lacking the intermediate buffer link, interference such as thrust fluctuation, frictional force and the like directly acts on the permanent magnet synchronous linear motor, and compared with a rotating motor, the permanent magnet synchronous linear motor has the advantages that the permanent magnet synchronous linear motor is more sensitive to load disturbance and change of internal structure parameters of the motor, the requirement on the quality of interference suppression is higher, and the nonlinearity degree is higher.
The control method of the sliding mode variable structure is suitable for a nonlinear system with uncertain parameters. The control quantity is continuously switched through a certain control strategy, namely the structure of the system is continuously changed, and the system is purposefully forced to enter the preset sliding mode surface to slide. After the system enters the sliding mode state, the stability and the dynamic quality of the system only depend on the sliding mode surface and the parameters of the sliding mode surface. The sliding mode can be designed and is irrelevant to system parameter change and external disturbance, so that the robustness is strong and the reliability is high. Some scholars apply a control law designed by a novel approach law to motor control, and the method not only improves the response speed of the system, but also effectively reduces the jitter matrix. Some scholars propose a method for adding an observer to a system and learning an estimation error upper bound by using a neural network, the method improves the precision of the system, reduces the tracking error and enables the system to have good rapidity and stability, but the observer is added to make the system more complex, and the introduced neural network causes too large calculation amount and is difficult to realize. Due to the fact that the sliding plane of the conventional motor sliding mode control systems is fixed, when large disturbance or large parameter perturbation occurs to the systems, the state quantity of the systems cannot be rapidly converged in the process of tending to the sliding plane, and therefore the adjusting speed of the systems is low, and the anti-jamming capability and robustness of the systems are poor. Compared with the conventional sliding mode control, the translational sliding plane control has better robustness and anti-interference capability, and has a simple structure and is easy to realize in engineering. So far, the translational sliding plane sliding mode control method has not been applied to the permanent magnet synchronous linear motor.
Disclosure of Invention
The invention aims to provide a sliding mode position control method for a translational sliding plane of a permanent magnet synchronous linear motor, so that a system has good tracking performance and good robustness and anti-interference capability.
In order to achieve the purpose, the technical scheme of the invention is as follows: a position control method for a sliding mode of a translational sliding plane of a permanent magnet synchronous linear motor is provided, a translational sliding plane sliding mode control system is provided to realize position control of the permanent magnet synchronous linear motor, and the system comprises a main circuit and a control circuit, wherein the main circuit comprises an alternating current power supply, a rectifier and a three-phase inverter and is used for supplying power to the whole system; the control circuit comprises a current control inner ring and a position control outer ring, a sliding mode variable structure controller is arranged in the position control outer ring, and the sliding mode variable structure controller takes a displacement difference e between a rotor displacement d and a given displacement dm as an input signal in the position control outer ring to output a current instruction control signal iq(ii) a The method specifically comprises the following steps of,
step S1: designing a slip form surface:
the known mechanical dynamic equation of the permanent magnet synchronous linear motor is as follows:
and (3) after simplification:
wherein D is viscous damping coefficient, M is rotor mass, and KfIs a thrust constant, FLIs a load thrust;
order to，，，
Then
When the parameters are perturbed,
wherein,
in the formula,，，respectively representing the shooting quantities of system parameters A, B and C;
the conventional slip plane is designed asAnd designing a translation sliding plane on the basis of the conventional sliding plane to ensure that(ii) a When in useWhen the sliding plane moves downwards, the sliding plane moves downwards; when in useWhen the sliding surface moves upwards, the sliding surface moves upwards; when in useWhen the sliding plane is translated, the sliding plane is equivalent to a conventional sliding plane; is provided withWhereinFloor (, denotes a down-rounding function, e denotes a displacement difference,indicates a control amount ofTime, displacement difference of the system, c andsetting parameters;
step S2: the generalized sliding mode condition proves that:
get
Constructing a Lyapunov function and a Lyapunov function,then there is
Therefore, whenWhen the temperature of the water is higher than the set temperature,when the system is in use, the system is stable; wherein,k is a set parameter and is the upper bound of the uncertain factor H;
step S3: designing a control law:
the design control law according to the designed translational slip plane is as follows:
step S4: setting u as the expected given value of the q-axis current of the current regulator, setting the expected given value of the d-axis current of the current regulator as 0, and carrying out SVPWM modulation on the output of the current regulator to obtain the actual drive signal of the PWM inverter at the stator end of the linear motor.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the sliding mode variable structure controller is added in the position control outer ring, so that the position difference becomes a state variable, and the sliding mode variable structure controller is controlled by the controller to enter the sliding plane to slide, so that the position tracking is stable and has no relation with the parameter change and external disturbance of the motor, and the aims of position tracking and anti-interference of the permanent magnet synchronous linear motor are directly met;
2. compared with the traditional sliding plane, the translational sliding plane designed by the method can enable the permanent magnet synchronous linear motor to have better robustness and anti-interference capability while keeping quick tracking response;
3. the system has simple structure and high stability, and can be applied to engineering practice.
Drawings
FIG. 1 is a block diagram of a translational slip plane sliding mode control system of the present invention.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
The invention relates to a position control method of a sliding mode of a translation sliding plane of a permanent magnet synchronous linear motor, which provides a control system of the sliding mode of the translation sliding plane to realize the position control of the permanent magnet synchronous linear motor, wherein the system comprises a main circuit and a control circuit, wherein the main circuit comprises an alternating current power supply, a rectifier and a three-phase inverter and is used for supplying power to the whole system; the control circuit comprises a current control inner ring and a position control outer ring, a sliding mode variable structure controller is arranged in the position control outer ring, and the sliding mode variable structure controller takes a displacement difference e between a rotor displacement d and a given displacement dm as an input signal in the position control outer ring to output a current instruction controlSystem signal iq(ii) a The method specifically comprises the following steps of,
step S1: designing a slip form surface:
the known mechanical dynamic equation of the permanent magnet synchronous linear motor is as follows:
and (3) after simplification:
wherein D is viscous damping coefficient, M is rotor mass, and KfIs a thrust constant, FLIs a load thrust;
order to，，，
Then
When the parameters are perturbed,
wherein,
in the formula,，，respectively representing the shooting quantities of system parameters A, B and C;
the conventional slip plane is designed asAnd designing a translation sliding plane on the basis of the conventional sliding plane to ensure that(ii) a When in useWhen the sliding plane moves downwards, the sliding plane moves downwards; when in useWhen the sliding surface moves upwards, the sliding surface moves upwards; when in useWhen the sliding plane is translated, the sliding plane is equivalent to a conventional sliding plane; is provided withWhereinFloor (, denotes a down-rounding function, e denotes a displacement difference,indicates a control amount ofTime, displacement difference of the system, c andsetting parameters;
step S2: the generalized sliding mode condition proves that:
get
Constructing a Lyapunov function and a Lyapunov function,then there is
Therefore, whenWhen the temperature of the water is higher than the set temperature,when the system is in use, the system is stable; wherein,k is a set parameter and is the upper bound of the uncertain factor H;
step S3: designing a control law:
the design control law according to the designed translational slip plane is as follows:
step S4: setting u as the expected given value of the q-axis current of the current regulator, setting the expected given value of the d-axis current of the current regulator as 0, and carrying out SVPWM modulation on the output of the current regulator to obtain the actual drive signal of the PWM inverter at the stator end of the linear motor.
As shown in the attached figure 1, the design is carried out by adopting a mature vector control technology, and firstly, a current sensor is used for detecting the stator three-phase current i of the permanent magnet synchronous linear motora、ib、icAnd the three-phase current of the stator is subjected to clarke conversion to obtain the current under the two-phase static coordinate systemCurrent in two-phase stationary frame after park transformationConversion into a current i in a two-phase rotating coordinate systemdAnd iq，idAnd iqI.e. the feedback current of the current loop, the desired current for a permanent magnet synchronous linear motor is given byP is pole pair number, psi is rotor excitation flux linkage, Te *For the electromagnetic torque of the motor, in order to improve the power factor of the generator and reduce the torque ripple, the d-axis current is set as id *=0, the q-axis current control block diagram, the d-axis current control block diagram and the tuning parameters are the same as those of the q-axis; the transfer function of the q-axis current loop control object isWhere L is the stator inductance and R is the stator winding resistance, taking into account the current loop requirementsFor faster tracking capability, a PI regulator is adopted to set the regulator parameters according to a typical type 1 system, and the transfer function of the PI regulator isIn the formula，，KPWMFor small gains, e.g. bridges, of PWM rectifiers, K when using SVPWM modulationPWM=1。
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (1)
1. A sliding mode position control method for a permanent magnet synchronous linear motor translation sliding plane is characterized by comprising the following steps: providing a translational slip plane sliding mode control system to realize position control of a permanent magnet synchronous linear motor, wherein the system comprises a main circuit and a control circuit, wherein the main circuit comprises an alternating current power supply, a rectifier and a three-phase inverter and is used for supplying power to the whole system; the control circuit comprises a current control inner ring and a position control outer ring, a sliding mode variable structure controller is arranged in the position control outer ring, and the sliding mode variable structure controller displaces a rotor in the position control outer ringd and a given displacement dm, and outputting a current command control signal iq(ii) a The method specifically comprises the following steps of,
step S1: designing a slip form surface:
the known mechanical dynamic equation of the permanent magnet synchronous linear motor is as follows:
and (3) after simplification:
wherein D is viscous damping coefficient, M is rotor mass, and KfIs a thrust constant, FLIs a load thrust;
order to，，，
Then
When the parameters are perturbed,
wherein,
in the formula,，，respectively representing the shooting quantities of system parameters A, B and C;
the conventional slip plane is designed asAnd designing a translation sliding plane on the basis of the conventional sliding plane to ensure that(ii) a When in useWhen the sliding plane moves downwards, the sliding plane moves downwards; when in useWhen the sliding surface moves upwards, the sliding surface moves upwards; when in useWhen the sliding plane is translated, the sliding plane is equivalent to a conventional sliding plane; is provided withWhereinFloor (, denotes a down-rounding function, e denotes a displacement difference,indicates a control amount ofTime, displacement difference of the system, c andsetting parameters;
step S2: the generalized sliding mode condition proves that:
get
Constructing a Lyapunov function and a Lyapunov function,then there is
Therefore, whenWhen the temperature of the water is higher than the set temperature,when the system is in use, the system is stable; wherein,k is a set parameter and is the upper bound of the uncertain factor H;
step S3: designing a control law:
the design control law according to the designed translational slip plane is as follows:
step S4: setting u as the expected given value of the q-axis current of the current regulator, setting the expected given value of the d-axis current of the current regulator as 0, and carrying out SVPWM modulation on the output of the current regulator to obtain the actual drive signal of the PWM inverter at the stator end of the linear motor.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101127500A (en) * | 2006-08-17 | 2008-02-20 | 上海日立电器有限公司 | DC frequency conversion controller and its method for controlling speed of permanent magnetic synchronous electromotor rotor |
| CN101951211A (en) * | 2010-07-23 | 2011-01-19 | 南京航空航天大学 | Brushless direct current motor electromagnetic torque observation method based on self-adapting slipform observer |
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN103684170A (en) * | 2013-11-26 | 2014-03-26 | 福州大学 | Secant-method based internal model position control method for permanent magnet linear synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101127500A (en) * | 2006-08-17 | 2008-02-20 | 上海日立电器有限公司 | DC frequency conversion controller and its method for controlling speed of permanent magnetic synchronous electromotor rotor |
| CN101951211A (en) * | 2010-07-23 | 2011-01-19 | 南京航空航天大学 | Brushless direct current motor electromagnetic torque observation method based on self-adapting slipform observer |
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN103684170A (en) * | 2013-11-26 | 2014-03-26 | 福州大学 | Secant-method based internal model position control method for permanent magnet linear synchronous motor |
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