CN108631674A - Permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm - Google Patents

Permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm Download PDF

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CN108631674A
CN108631674A CN201810450065.4A CN201810450065A CN108631674A CN 108631674 A CN108631674 A CN 108631674A CN 201810450065 A CN201810450065 A CN 201810450065A CN 108631674 A CN108631674 A CN 108631674A
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sent
function module
subtracter
multiplier
axis current
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CN108631674B (en
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纪科辉
苏明垢
鲁文其
姚炳兴
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

The present invention provides a kind of permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm：Including sliding mode controller, resonance suppression module, notch filter, low-pass filter, electric current loop PI controllers, PARK conversion modules, Frequency conversion control module, inverter, Clark conversion modules, PARK inverse transform modules and linear motor with position grating scale；Due to eliminating speed closed loop this big inertial delay link, the present invention replaces traditional three close-loop control structure with position double current loop modulation structure, can improve the response speed of system, and have preferable dynamic property.Chattering phenomenon can obviously be weakened and ensure the precision of sliding formwork control by using high_order sliding mode control device, and the dynamic characteristic and robust performance of the further lifting system of energy.

Description

Permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm
Technical field
The present invention relates to a kind of position servo control method based on linear permanent-magnet motor, especially a kind of high-performance is straight Connect activation point servo-drive system and method.
Background technology
Permanent magnet linear synchronous motor is even more to have many advantages, such as that power density is high, thrust-volume ratio is high, dynamic property is good, It can realize direct high-speed driving, avoid backlass, inertia, frictional force and rigidity in direct mechanical drive The shortcomings of insufficient, can get high speed, high precision movement performance and have fabulous stable state and dynamic property, is highly suitable for straight line Direct-drive type system.With the development of intelligent equipment manufacturing and automatic control technology, there is fast response, accuracy height, overload capacity The positional servosystem based on linear permanent magnet synchronous motor of the advantages that high is gradually widely used in industry as execution unit Directly driving in equipment in production, such as numerically-controlled machine tool, the fields such as semiconductor production, robot, the driving of XY platforms.For high speed For high-precision linear position servo-drive system, the control method of high-performance height response is one of key technology.
The dynamic performance requirements that high performance position servo-drive system responds system position are very high, and traditional location servo is by position Closed loop is formed as intermediate ring, current closed-loop as three closed loops of inner ring as outer shroud, speed closed loop, and speed closed loop is as control Series connection link in structure reduces the dynamic response performance of system position adjusting, and improves the exponent number of whole system, increases The debugging difficulty of system.Using the two ring position servos for removing speed closed loop link, due to having lacked speed closed loop, this is big used Property delay link, to position command variation reaction speed faster, dynamic property is more preferable, is suitable for permanent-magnet linear servo-actuator Direct-drive type position controls.After two loop systems, the output of positioner is exactly the specified rate of electric current loop, the property of servo-drive system It can be influenced by electrical parameter and external disturbance, High-Order Sliding Mode algorithm is introduced into the positioner of two loop systems by the present invention In, wherein the sliding mode controller designed is insensitive to electrical parameter variation, and load disturbance can be inhibited.High_order sliding mode control algorithm It is the extension of traditional sliding formwork, discontinuous function effect is not acted on into sliding formwork amount in the first derivative of sliding formwork amount In second dervative, weakening jitter phenomenon can be shown, has the characteristics that algorithm simple, strong robustness and easy to implement.
Therefore, it is necessary to be improved to the prior art.
Invention content
The permanent magnet linear motor that the technical problem to be solved in the present invention is to provide a kind of efficiently based on High-Order Sliding Mode algorithm Positional servosystem.
It is watched in order to solve the above technical problems, the present invention provides a kind of permanent magnet linear motor position based on High-Order Sliding Mode algorithm Dress system：Including sliding mode controller, resonance suppression module, notch filter, low-pass filter, electric current loop PI controllers, PARK Conversion module, Frequency conversion control module, inverter, Clark conversion modules, PARK inverse transform modules and carry position grating scale Linear motor；
Given position is instructed into p by Upper system*It is sent to resonance suppression module and the first subtracter；
Linear motor exports p by position grating scalebSignal is to the first subtracter；Linear motor exports two-phase stator current iaAnd ibTo Clark conversion modules；
Resonance suppression module instructs p according to given position*；Operation obtain it is smooth after location of instruction pf, and will it is smooth after Location of instruction pfIt is sent to the second subtracter；
First subtracter instructs p according to given position*And pbSignal, operation obtain error signal p*-pb, and error is believed Number p*-pbIt is sent to the second subtracter；The operation method of first subtracter is that given position instructs p*Subtract pbSignal；
Second subtracter is according to error signal p*-pbWith it is smooth after location of instruction pf, operation obtains position error signal σ, And position error signal σ is sent to sliding mode controller；The operation method of second subtracter is error signal p*-pbSubtract instruction Position pf；
For sliding mode controller according to position error signal σ, operation obtains output im, and i will be exportedmIt is sent to low-pass filter；
Low-pass filter is according to the output i of sliding mode controllerm, filtered to obtain filtered signal im *, and will believe after filtering Number im *It is sent to notch filter；
Notch filter is according to filtered signal im *, operation obtains quadrature axis current given value iq *, and quadrature axis current is given Value iq *It is sent to third subtracter；
Clark conversion modules are according to two-phase stator current iaAnd ib, stator current i after operation is convertedαAnd iβ, and will Stator current i after transformationαAnd iβIt is sent to PARK inverse transform modules；
PARK inverse transform modules are according to stator current i after transformationαAnd iβ, operation obtains quadrature axis current value of feedback iqAnd d-axis Current feedback values id, and by quadrature axis current value of feedback iqIt is sent to third subtracter, by direct-axis current value of feedback idIt is sent to the 4th Subtracter；
Third subtracter is according to quadrature axis current given value iq *With quadrature axis current value of feedback iq, obtain quadrature axis current through operation and miss Difference iq *-iq, and quadrature axis current error amount is sent to electric current loop PI controllers；The operation method of third subtracter is quadrature axis electricity Flow given value iq *Subtract quadrature axis current value of feedback iq；
By Upper system by direct-axis current given value id *It is sent to the 4th subtracter；
4th subtracter is according to direct-axis current given value id *With direct-axis current value of feedback id, obtain direct-axis current through operation and miss Difference id *-id, and by direct-axis current error amount id *-idIt is sent to electric current loop PI controllers；The operation method of 4th subtracter is Direct-axis current given value id *Subtract direct-axis current value of feedback id；
Electric current loop PI controllers are according to quadrature axis current error amount iq *-iqWith direct-axis current error amount id *-id, operation handed over Shaft current uqWith d-axis vertical compression ud, and by quadrature axis current uqWith d-axis vertical compression udIt is sent to PARK conversion modules；
PARK conversion modules are according to quadrature axis current uqWith d-axis vertical compression ud, operation obtains the stator under two-phase stationary coordinate system Component of voltage uα、uβ, and by the stator voltage component u under two-phase stationary coordinate systemα、uβIt is sent to Frequency conversion control module；
Frequency conversion control module is according to the stator voltage component u under two-phase stationary coordinate systemα、uβ, six tunnels are obtained through operation Pwm signal, six road pwm signals of Bing Jiang are sent to inverter；It is run by Driven by inverter linear motor.
As to the present invention is based on the improvement of the permanent magnet linear motor positional servosystem of High-Order Sliding Mode algorithm：
The transmission function of resonance suppression module is：
In formula：KfFor thrust constant, M is the mover and load gross mass of linear motor, ω0NIt is the band of resonance suppression module Width, ξ0For damping ratio；
As to being further improved the present invention is based on the permanent magnet linear motor positional servosystem of High-Order Sliding Mode algorithm：
Sliding mode controller includes the 5th subtracter, the first sign function module, the first multiplier, first integral Function Modules Block, the first absolute value evolution function module, third multiplier, first adder, second integral function module, the second absolute value are opened Square function module, the second multiplier, the second sign function module, the first ABS function module, the 4th multiplier, the 5th multiplication Device, second adder, the 6th multiplier and third sign function module；
Position error signal σ is sent to the 5th subtracter by the second subtracter；
The estimation for the position error signal that 5th subtracter is exported according to position error signal σ and second integral function module Value z0, operation obtains deviation signal z0- σ, and by deviation signal z0- σ is sent respectively to the first sign function module and first absolutely It is worth evolution function module；
First sign function module is according to deviation signal z0- σ, operation obtain sign (z0- σ), and by sign (z0- σ) it sends To the first multiplier and the second multiplier；
First multiplier is according to sign (z0- σ), operation obtains the estimated value of the first derivative of error signalAnd by error The estimated value of the first derivative of signalIt is sent to first integral function module；
First integral function module is according to the estimated value of the first derivative of error signalIntegral operation obtains site error Signal estimated value z1, and by position error signal estimated value z1It is sent to first adder；
First absolute value evolution function module is according to deviation signal z0- σ, operation obtainAnd it will It is sent to the second multiplier；
Second multiplier according toWith sign (z0- σ), operation obtainsAnd it willIt is sent to third multiplier；
Third multiplier according toOperation obtains z2, and by z2It is sent to first adder；
First adder is according to z1And z2, operation obtains derivativeAnd by derivativeIt is sent to second integral function module；
Second integral function module is according to derivativeIntegral operation obtains the estimated value z of position error signal0, and by position The estimated value z of error signal0It is sent to the 5th subtracter；
λ1=1.2, λ2=1.7, L meet constraints For mover peak acceleration；
Second integral function module also sends the estimated value z of position error signal0To the second absolute value evolution function module With ABS function module；
ABS function module is according to the estimated value z of position error signal0, operation obtains | z0|, and will | z0| it is sent to Two sign function modules；
Second absolute value evolution function module is according to z0, operation obtainsAnd it willIt is sent to the 4th multiplier；
Second sign function module is according to | z0|, operation obtain sign (| z0|), and by sign (| z0|) be sent to the 4th and multiply Musical instruments used in a Buddhist or Taoist mass；
4th multiplier according toWith sign (| z0|), operation obtainsAnd it willIt is sent to the 5th multiplier；
5th multiplier according toOperation obtainsAnd it willIt is sent to second adder；
First multiplier also sends the estimated value of first derivativeTo second adder；
Second adder according toWith the estimated value of first derivativeOperation obtains sliding formwork amountAnd by sliding formwork amountIt is sent to third sign function module；
Third sign function module is according to sliding formwork amountOperation obtainsAnd it willIt is sent to 6th multiplier；
6th multiplier according toOperation obtains the defeated of sliding mode controller Go out im；
In formula：imFor the output of sliding mode controller, α is the constant more than 0,And u1Meet constraints
As to being further improved the present invention is based on the permanent magnet linear motor positional servosystem of High-Order Sliding Mode algorithm：
The operation method of low-pass filter is：
In formula：τ is filter time constant.
As to being further improved the present invention is based on the permanent magnet linear motor positional servosystem of High-Order Sliding Mode algorithm：
The operation method of notch filter is：
In formula：ω2NFor trap frequency, ξ2For damping ratio.
As to being further improved the present invention is based on the permanent magnet linear motor positional servosystem of High-Order Sliding Mode algorithm：
The definition of first sign function module, the second sign function module and third sign function module is：
Due to eliminating speed closed loop this big inertial delay link, the present invention introduces the following advantage of linear servo system：
1, traditional three close-loop control structure is replaced with position-double current loop modulation structure, the response speed of system can be improved, And there is preferable dynamic property.Chattering phenomenon can obviously be weakened and ensure sliding formwork control by using high_order sliding mode control device Precision, and the dynamic characteristic and robust performance of the further lifting system of energy.
2, resonance restrainable algorithms can be inhibited instruction noise and reduced sudden change of acceleration with the location of instruction obtained by smoothing operation The vibrations caused by load, and reduce tracking error；Utmostly reduce overshoot and setting time.
3, in filtering out, spring loaded connection generates resonance interference signal to notch filter and decoder resonates interference signal.It is low Bandpass filter further filters out the high-frequency interferencing signal of sliding Mode Algorithm generation.
Description of the drawings
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the structure diagram of the permanent magnet linear motor positional servosystem the present invention is based on High-Order Sliding Mode algorithm；
Fig. 2 is the sliding-mode surface algorithm structure block diagram of sliding mode controller 4 in Fig. 1；
Fig. 3 is the sliding formwork function structure block diagram of sliding formwork Function generator 4 in Fig. 1.
Specific implementation mode
With reference to specific embodiment, the present invention is described further, but protection scope of the present invention is not limited in This.
Embodiment 1, the permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm, as shown in Figs. 1-3, including cunning Mould controller 4, resonance suppression module 1, notch filter 6, low-pass filter 5, electric current loop PI controllers 8, PARK conversion modules 9, Frequency conversion control module 10, inverter 11, Clark conversion modules 13, PARK inverse transform modules 14 and carry position grating The linear motor 12 of ruler 16.
Given position is instructed into p by Upper system*It is sent to resonance suppression module 1 and the first subtracter 2；
Linear motor 12 exports p by position grating scale 16bSignal is to the first subtracter 2；Linear motor 12 exports two-phase Stator current iaAnd ibTo Clark conversion modules 13；
Resonance suppression module 1 instructs p according to given position*, operation obtain it is smooth after location of instruction pf, and will it is smooth after Location of instruction pfIt is sent to the second subtracter 3；
First subtracter 2 instructs p according to given position*And pbSignal, operation obtain error signal p*-pb, and error is believed Number p*-pbIt is sent to the second subtracter 3；The operation method of first subtracter 2 is that given position instructs p*Subtract pbSignal；
Second subtracter 3 is according to error signal p*-pbWith it is smooth after location of instruction pf, operation obtains position error signal σ, and position error signal σ is sent to sliding mode controller 4；The operation method of second subtracter 3 is error signal p*-pbIt subtracts Location of instruction pf；
For sliding mode controller 4 according to position error signal σ, operation obtains output im, and i will be exportedmIt is sent to low-pass filter 5；
Low-pass filter 5 is according to the output i of sliding mode controller 4m, filtered to obtain filtered signal im *, and will be after filtering Signal im *It is sent to notch filter 6；
Notch filter 6 is according to filtered signal im *, operation obtains quadrature axis current given value iq *, and quadrature axis current is given Definite value iq *It is sent to third subtracter 7；
Clark conversion modules 13 are according to two-phase stator current iaAnd ib, stator current i after operation is convertedαAnd iβ, and Stator current i after convertingαAnd iβIt is sent to PARK inverse transform modules 14；
PARK inverse transform modules 14 are according to stator current i after transformationαAnd iβ, operation obtains quadrature axis current value of feedback iqWith it is straight Shaft current value of feedback id, and by quadrature axis current value of feedback iqIt is sent to third subtracter 7, by direct-axis current value of feedback idIt is sent to 4th subtracter 15；
Third subtracter 7 is according to quadrature axis current given value iq *With quadrature axis current value of feedback iq, quadrature axis current is obtained through operation Error amount iq *-iq, and quadrature axis current error amount is sent to electric current loop PI controllers 8；The operation method of third subtracter 7 is to hand over Shaft current given value iq *Subtract quadrature axis current value of feedback iq；
By Upper system by direct-axis current given value id *(id *=0) it is sent to the 4th subtracter 15；
4th subtracter 15 is according to direct-axis current given value id *=0 and direct-axis current value of feedback id, d-axis is obtained through operation Current error value id *-id, and by direct-axis current error amount id *-idIt is sent to electric current loop PI controllers 8；The fortune of 4th subtracter 15 Calculation method is direct-axis current given value id *=0 subtracts direct-axis current value of feedback id；
Electric current loop PI controllers 8 are according to quadrature axis current error amount iq *-iqWith direct-axis current error amount id *-id, operation obtains Quadrature axis current uqWith d-axis vertical compression ud, and by quadrature axis current uqWith d-axis vertical compression udIt is sent to PARK conversion modules 9；
PARK conversion modules 9 are according to quadrature axis current uqWith d-axis vertical compression ud, operation obtains the stator under two-phase stationary coordinate system Component of voltage uα、uβ, and by the stator voltage component u under two-phase stationary coordinate systemα、uβIt is sent to Frequency conversion control module 10；
Frequency conversion control module 10 is according to the stator voltage component u under two-phase stationary coordinate systemα、uβ, six are obtained through operation Road pwm signal, six road pwm signals of Bing Jiang are sent to inverter 11；Linear motor 12 is driven to run by inverter 11.
Wherein resonance suppression module 1 is using second-order low-pass filter, transmission function：
In formula：KfFor thrust constant, M is the mover and load gross mass of linear motor 12, ω0NIt is resonance suppression module 1 Bandwidth, can be adjusted according to the design requirement of system, ξ0For adjustable damping ratio, adjusted according to motor load and inertia Whole, it is Laplace function operator generally to take 0.5 to 0.7, S；
The operation method of sliding mode controller 4 is：
Sliding mode controller 4 includes the 5th subtracter 17, the first sign function module 18, the first multiplier 19, first integral Function module 20, the first absolute value evolution function module 21, third multiplier 22, first adder 23, second integral Function Modules Block 24, the second absolute value evolution function module 25, the second multiplier 32, the second sign function module 26, the first ABS function Module 33, the 4th multiplier 27, the 5th multiplier 28, second adder 29, the 6th multiplier 30 and third sign function module 31。
Position error signal σ is sent to the 5th subtracter 17 by the second subtracter 3；
The position error signal that 5th subtracter 17 is exported according to position error signal σ and second integral function module 24 Estimated value z0, operation obtains deviation signal z0- σ (the estimated value z of position error signal0Subtract error signal σ), and deviation is believed Number z0- σ is sent respectively to the first sign function module 18 and the first absolute value evolution function module 21；
First sign function module 18 is according to deviation signal z0- σ, operation obtain sign (z0- σ), and by sign (z0- σ) hair It is sent to the first multiplier 19 and the second multiplier 32；The operation method of first sign function module 18 is by deviation signal z0- σ draws Enter in sign ()；
First multiplier 19 is according to sign (z0- σ), operation obtains the estimated value of the first derivative of error signalAnd it will be accidentally The estimated value of the first derivative of difference signalIt is sent to first integral function module 20；The operation method of first multiplier 19 is will sign(z0- σ) withIt is multiplied；
First integral function module 20 is according to the estimated value of the first derivative of error signalIntegral operation obtains position mistake Difference signal estimated value z1, and by position error signal estimated value z1It is sent to first adder 23；
First absolute value evolution function module 21 is according to deviation signal z0- σ, operation obtainAnd it will It is sent to the second multiplier 32；The operation method of first absolute value evolution function module 21 is by deviation signal z0- σ is introduced In；
Second multiplier, 32 basisWith sign (z0- σ), operation obtainsAnd It willIt is sent to third multiplier 22；The operation method of second multiplier 32 isWith sign(z0- σ) it is multiplied；
22 basis of third multiplierOperation obtains z2, and by z2It is sent to the first addition Device 23；The operation method of third multiplier 22 isWithIt is multiplied；
First adder 23 is according to z1And z2, operation obtains derivativeAnd by derivativeIt is sent to second integral function module 24；The operation method of first adder 23 is z1And z2It is added；
Second integral function module 24 is according to derivativeIntegral operation obtains the estimated value z of position error signal0, and by position Set the estimated value z of error signal0It is sent to the 5th subtracter 17.
The sliding-mode surface algorithm of complete sliding mode controller 4 is shown below：
λ in formula1=1.2, λ2=1.7, L meet constraintsFor linear motor 12,Most for mover High acceleration can be obtained according to the maximum thrust and mover quality of linear motor 12；
The definition of first sign function module 18, the second sign function module 26 and third sign function module 31 is：
Second integral function module 24 also sends the estimated value z of position error signal0To the second absolute value evolution Function Modules Block 25 and ABS function module 33；
ABS function module 33 is according to the estimated value z of position error signal0, operation obtains | z0|, and will | z0| it is sent to Second sign function module 26；The operation method of ABS function module 33 is by z0It is introduced into | () | in；
Second absolute value evolution function module 25 is according to z0, operation obtainsAnd it willIt is sent to the 4th multiplier 27；The operation method of second absolute value evolution function module 25 is by z0It introducesIn；
Second sign function module, 26 basis | z0|, operation obtain sign (| z0|), and by sign (| z0|) it is sent to the 4th Multiplier 27；The operation mode of second sign function module 26 is to incite somebody to action | z0| it is introduced into sign ()；
4th multiplier, 27 basisWith sign (| z0|), operation obtainsAnd it willIt is sent to the 5th multiplier 28；The operation method of 4th multiplier 27 is willWith sign (| z0|) It is multiplied；
5th multiplier, 28 basisOperation obtainsAnd it willIt is sent to second adder 29；The operation method of 5th multiplier 28 is willIt is multiplied with β；
First multiplier 19 also sends the estimated value of first derivativeTo second adder 29；
29 basis of second adderWith the estimated value of first derivativeOperation obtains sliding formwork amountAnd by sliding formwork amountIt is sent to third sign function module 31；The operation method of second adder 29 is willWith the estimated value of first derivativeIt is added；
Third sign function module 31 is according to sliding formwork amountOperation obtainsAnd it willIt is sent to Six multipliers 30；The operation method of third sign function module 31 is by sliding formwork amountIt introduces In sign ()；
6th multiplier, 30 basisOperation obtains sliding mode controller 4 Output im；The operation method of 6th multiplier 30 is willIt is multiplied with-α；
The output i of sliding mode controller 4mOperation method be：
In formula：imFor the output of sliding mode controller 4, α is the constant more than 0,And u1Meet constraintsAccording toIntegral operation can obtain position error signal σ.
The operation method of low-pass filter 5 is：
In formula：τ is adjustable filter time constant.
Low-pass filter 5 is low-pass first order filter 5, can filter out the high-frequency interferencing signal of sliding Mode Algorithm generation.
The operation method of notch filter 6 is：
In formula：ω2NFor trap frequency, can be adjusted according to the design requirement of system, ξ2For adjustable damping ratio, generally take 0.4-0.7.Notch filter 6 generates resonance interference signal and decoder resonance interference signal for filtering out spring loaded connection, Its output valve g2(s) it is quadrature axis current given value iq *。
Linear motor 12 is permanent synchronous linear electric motor, using id*=0 Field orientable control method, linear motor 12 Meet Ld=Lq, electromagnetic push is expressed as：Ld、LqRespectively d-axis inductance and quadrature axis inductance；id、iqFor rotation Turn stator current vector under coordinate system；ψfThe magnetic potential generated for rotor permanent magnet；τ is motor pole span, Ld、Lq、ψfAll it is with τ etc. The parameter of electric machine.
It follows that the quadrature axis current given value i exported by notch filter 6q *, it can be achieved that having to 12 thrust of linear motor The control of effect, pbSignal obtains instructing p with given position via the detection of grating scale 16*Compare to obtain error signal p*-pb, the mistake Difference signal p*-pbAs the input value of position ring, electromagnetic push FeSize determine mover movement speed, to realize to straight line The control of the mover of motor 12.
Finally, it should also be noted that it is listed above be only the present invention several specific embodiments.Obviously, this hair Bright to be not limited to above example, acceptable there are many deformations.Those skilled in the art can be from present disclosure All deformations for directly exporting or associating, are considered as protection scope of the present invention.

Claims (6)

1. the permanent magnet linear motor positional servosystem based on High-Order Sliding Mode algorithm, it is characterised in that：Including sliding mode controller (4), resonance suppression module (1), notch filter (6), low-pass filter (5), electric current loop PI controllers (8), PARK become mold changing Block (9), Frequency conversion control module (10), inverter (11), Clark conversion modules (13), PARK inverse transform modules (14) and Linear motor (12) with position grating scale (16)；
Given position is instructed into p by Upper system*It is sent to resonance suppression module (1) and the first subtracter (2)；
Linear motor (12) exports p by position grating scale (16)bSignal is to the first subtracter (2)；Linear motor (12) output two Phase stator current iaAnd ibTo Clark conversion modules (13)；
Resonance suppression module (1) instructs p according to given position*；Operation obtain it is smooth after location of instruction pf, and will it is smooth after Location of instruction pfIt is sent to the second subtracter (3)；
First subtracter (2) instructs p according to given position*And pbSignal, operation obtain error signal p*-pb, and by error signal p*-pbIt is sent to the second subtracter (3)；The operation method of first subtracter (2) is that given position instructs p*Subtract pbSignal；
Second subtracter (3) is according to error signal p*-pbWith it is smooth after location of instruction pf, operation obtains position error signal σ, And position error signal σ is sent to sliding mode controller (4)；The operation method of second subtracter (3) is error signal p*-pbSubtract Remove location of instruction pf；
For sliding mode controller (4) according to position error signal σ, operation obtains output im, and i will be exportedmIt is sent to low-pass filter (5)；
Low-pass filter (5) is according to the output i of sliding mode controller (4)m, filtered to obtain filtered signal im *, and will be after filtering Signal im *It is sent to notch filter (6)；
Notch filter (6) is according to filtered signal im *, operation obtains quadrature axis current given value iq *, and by quadrature axis current given value iq *It is sent to third subtracter (7)；
Clark conversion modules (13) are according to two-phase stator current iaAnd ib, stator current i after operation is convertedαAnd iβ, and will become Change rear stator current iαAnd iβIt is sent to PARK inverse transform modules (14)；
PARK inverse transform modules (14) are according to stator current i after transformationαAnd iβ, operation obtains quadrature axis current value of feedback iqAnd d-axis Current feedback values id, and by quadrature axis current value of feedback iqIt is sent to third subtracter (7), by direct-axis current value of feedback idIt is sent to 4th subtracter (15)；
Third subtracter (7) is according to quadrature axis current given value iq *With quadrature axis current value of feedback iq, obtain quadrature axis current through operation and miss Difference iq *-iq, and quadrature axis current error amount is sent to electric current loop PI controllers (8)；The operation method of third subtracter (7) is Quadrature axis current given value iq *Subtract quadrature axis current value of feedback iq；
By Upper system by direct-axis current given value id *It is sent to the 4th subtracter (15)；
4th subtracter (15) is according to direct-axis current given value id *With direct-axis current value of feedback id, obtain direct-axis current through operation and miss Difference id *-id, and by direct-axis current error amount id *-idIt is sent to electric current loop PI controllers (8)；The operation of 4th subtracter (15) Method is direct-axis current given value id *Subtract direct-axis current value of feedback id；
Electric current loop PI controllers (8) are according to quadrature axis current error amount iq *-iqWith direct-axis current error amount id *-id, operation handed over Shaft current uqWith d-axis vertical compression ud, and by quadrature axis current uqWith d-axis vertical compression udIt is sent to PARK conversion modules (9)；
PARK conversion modules (9) are according to quadrature axis current uqWith d-axis vertical compression ud, it is electric that operation obtains the stator under two-phase stationary coordinate system Press component uα、uβ, and by the stator voltage component u under two-phase stationary coordinate systemα、uβIt is sent to Frequency conversion control module (10)；
Frequency conversion control module (10) is according to the stator voltage component u under two-phase stationary coordinate systemα、uβ, six tunnels are obtained through operation Pwm signal, six road pwm signals of Bing Jiang are sent to inverter (11)；Linear motor (12) is driven to run by inverter (11).
2. the permanent magnet linear motor positional servosystem according to claim 1 based on High-Order Sliding Mode algorithm, feature exist In：
The transmission function of resonance suppression module (1) is：
In formula：KfFor thrust constant, M is the mover and load gross mass of linear motor (12), ω0NIt is resonance suppression module (1) Bandwidth, ξ0For damping ratio.
3. the permanent magnet linear motor positional servosystem according to claim 2 based on High-Order Sliding Mode algorithm, feature exist In：
Sliding mode controller (4) includes the 5th subtracter (17), the first sign function module (18), the first multiplier (19), first Integral function module (20), the first absolute value evolution function module (21), third multiplier (22), first adder (23), Two integral function modules (24), the second absolute value evolution function module (25), the second multiplier (32), the second sign function module (26), the first ABS function module (33), the 4th multiplier (27), the 5th multiplier (28), second adder (29), the 6th Multiplier (30) and third sign function module (31)；
Position error signal σ is sent to the 5th subtracter (17) by the second subtracter (3)；
The position error signal that 5th subtracter (17) is exported according to position error signal σ and second integral function module (24) Estimated value z0, operation obtains deviation signal z0- σ, and by deviation signal z0- σ be sent respectively to the first sign function module (18) and First absolute value evolution function module (21)；
First sign function module (18) is according to deviation signal z0- σ, operation obtain sign (z0- σ), and by sign (z0- σ) it sends To the first multiplier (19) and the second multiplier (32)；
First multiplier (19) is according to sign (z0- σ), operation obtains the estimated value of the first derivative of error signalAnd by error The estimated value of the first derivative of signalIt is sent to first integral function module (20)；
First integral function module (20) is according to the estimated value of the first derivative of error signalIntegral operation obtains site error Signal estimated value z1, and by position error signal estimated value z1It is sent to first adder (23)；
First absolute value evolution function module (21) is according to deviation signal z0- σ, operation obtainAnd it willHair It is sent to the second multiplier (32)；
Second multiplier (32) basisWith sign (z0- σ), operation obtainsAnd it willIt is sent to third multiplier (22)；
Third multiplier (22) basisOperation obtains z2, and by z2It is sent to first adder (23)；
First adder (23) is according to z1And z2, operation obtains derivativeAnd by derivativeIt is sent to second integral function module (24)；
Second integral function module (24) is according to derivativeIntegral operation obtains the estimated value z of position error signal0, and by position The estimated value z of error signal0It is sent to the 5th subtracter (17)；
λ1=1.2, λ2=1.7, L meet constraints For mover peak acceleration；
Second integral function module (24) also sends the estimated value z of position error signal0To the second absolute value evolution function module (25) and ABS function module (33)；
ABS function module (33) is according to the estimated value z of position error signal0, operation obtains | z0|, and will | z0| it is sent to Two sign function modules (26)；
Second absolute value evolution function module (25) is according to z0, operation obtainsAnd it willIt is sent to the 4th multiplier (27)；
Second sign function module (26) basis | z0|, operation obtain sign (| z0|), and by sign (| z0|) be sent to the 4th and multiply Musical instruments used in a Buddhist or Taoist mass (27)；
4th multiplier (27) basisWith sign (| z0|), operation obtainsAnd it willIt is sent to the 5th multiplier (28)；
5th multiplier (28) basisOperation obtainsAnd it willIt is sent to second adder (29)；
First multiplier (19) also sends the estimated value of first derivativeTo second adder (29)；
Second adder (29) basisWith the estimated value of first derivativeOperation obtains sliding formwork amountAnd by sliding formwork amountIt is sent to third sign function module (31)；
Third sign function module (31) is according to sliding formwork amountOperation obtainsAnd it willIt is sent to 6th multiplier (30)；
6th multiplier (30) basisOperation obtains sliding mode controller (4) Output im；
In formula：imFor the output of sliding mode controller (4), α is the constant more than 0,And u1Meet constraints
4. the permanent magnet linear motor positional servosystem according to claim 3 based on High-Order Sliding Mode algorithm, feature exist In：
The operation method of low-pass filter (5) is：
In formula：τ is filter time constant.
5. the permanent magnet linear motor positional servosystem according to claim 4 based on High-Order Sliding Mode algorithm, feature exist In：
The operation method of notch filter (6) is：
In formula：ω2NFor trap frequency, ξ2For damping ratio.
6. the permanent magnet linear motor positional servosystem according to claim 5 based on High-Order Sliding Mode algorithm, feature exist In：
The definition of first sign function module (18), the second sign function module (26) and third sign function module (31) is：
。
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