CN102664569A - Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor - Google Patents
Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor Download PDFInfo
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Abstract
The invention provides a sliding-mode-variable-structure-based control method and device for a permanent-magnet synchronous linear motor. The method comprises the following steps of: establishing a permanent-magnet synchronous linear motor model; establishing an overall simulation module of the permanent-magnet synchronous linear motor and carrying out parameter adjustment; selecting a suitable sliding mode variable structure and establishing a corresponding simulation module; and carrying out simulation and result comparison through sliding mode variable structure control. According to the scheme provided by the invention, the traditional single PID (Proportion, Integration and Differentiation) control is changed into sliding mode control, so that the speed response is faster, the overshoot quantity is less, and the anti-interference capacity is stronger; and the sliding mode variable structure has the advantages of simple control algorithm, good robustness and high reliability, so that the method and the device can be excellently applied to a nonlinear movement control process.
Description
Technical Field
The invention relates to the technical field of information control, in particular to a permanent magnet synchronous linear motor control method and device based on a sliding mode variable structure.
Background
The permanent magnet synchronous linear motor is a transmission device capable of directly converting electric energy into linear motion, and has remarkable advantages compared with the traditional transmission mode of 'a rotating motor + a roller screw' because no intermediate transmission medium is needed: high precision, high and stable speed and acceleration, high thrust and the like. In recent years, linear motors have been rapidly developed and widely used in various fields, particularly in the field of high-speed machining which is basically characterized by high efficiency and high accuracy. The linear motor gradually replaces the ordinary servo driving system with the advantages of fast response, precision and the like, but the requirement on the control system is higher and higher to enable the linear motor to show excellent performance.
The traditional PID control has the advantages of simple structure, stable output, easy realization and the like and is used up to now, but the simple PID control cannot achieve an ideal control effect in a processing occasion with high speed, high precision and large load disturbance.
Aiming at the problem that the control effect is poor in the prior art under the processing occasions of high speed, high precision and large load disturbance, the sliding mode variable structure-based permanent magnet synchronous linear motor control method and device are provided, and are one of the problems to be solved urgently in the technical field of information control.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a device for controlling a permanent magnet synchronous linear motor based on a sliding mode variable structure, wherein a permanent magnet synchronous linear motor model is established, then an integral simulation module of the permanent magnet synchronous linear motor is established and parameter adjustment is carried out, then a proper sliding mode variable structure is selected and a corresponding simulation module is established, and finally simulation and result comparison are carried out through sliding mode variable structure control.
In order to solve the technical problem, the embodiment of the invention is realized by the following technical scheme:
a permanent magnet synchronous linear motor control method based on a sliding mode variable structure comprises the following steps:
step one, establishing a permanent magnet synchronous linear motor model;
step two, establishing an integral simulation module of the permanent magnet synchronous linear motor and adjusting parameters;
selecting a proper sliding mode variable structure and establishing a corresponding simulation module;
and fourthly, performing simulation and result comparison through sliding mode variable structure control.
Preferably, in the first step, a permanent magnet synchronous linear motor model is built according to a kinetic equation.
Preferably, the dynamic equation of the permanent magnet synchronous linear motor is as follows:
wherein L isd，LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor; and m is the motor mass.
Preferably, in the first step, a voltage and mechanical module is established according to a mathematical model, and a permanent magnet synchronous linear motor model is established according to a kinetic equation.
Preferably, in the second step, an overall simulation module of the permanent magnet synchronous linear motor is established, including but not limited to a speed and current loop PID control module and an SVPWM module.
Preferably, in the second step, parameter adjustment is performed to obtain initial parameters of each PID controller.
Preferably, in the third step, the sliding mode variable structure control scheme is as follows:
u＝ueq+usw
wherein u iseq＝ne，uswFsign(s), therefore
A permanent magnet synchronous linear motor control device based on a sliding mode variable structure comprises a model establishing unit, a parameter adjusting unit, a selecting unit and a comparing unit.
Preferably, the model establishing unit is configured to establish a permanent magnet synchronous linear motor model.
Preferably, the parameter adjusting unit is configured to establish an overall simulation module of the permanent magnet synchronous linear motor and perform parameter adjustment.
Preferably, the selecting unit is used for selecting a suitable sliding mode variable structure and establishing a corresponding simulation module.
Preferably, the comparison unit is used for performing simulation and result comparison through sliding mode variable structure control.
In summary, the invention provides a sliding mode variable structure-based permanent magnet synchronous linear motor control method and device, a permanent magnet synchronous linear motor model is established, then an integral simulation module of the permanent magnet synchronous linear motor is established and parameter adjustment is carried out, then a proper sliding mode variable structure is selected and a corresponding simulation module is established, and finally simulation and result comparison are carried out through sliding mode variable structure control.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous linear motor control method based on a sliding mode variable structure;
FIG. 2 is a schematic model diagram of a sliding mode controller according to the present invention;
FIG. 3 is a schematic diagram of the entire model of PMLSM sliding mode control under Simulink;
FIG. 4 is a schematic diagram of a PID controller velocity simulation waveform;
FIG. 5 is a schematic diagram of a speed simulation waveform of the sliding mode controller;
FIG. 6 is a schematic diagram of a velocity simulation waveform when a PID controller suddenly adds a disturbance;
FIG. 7 is a schematic diagram of a speed simulation waveform when a sliding mode controller suddenly adds a disturbance;
FIG. 8 is a schematic diagram of a thrust force comparison waveform;
fig. 9 is a schematic diagram of a permanent magnet synchronous linear motor control device based on a sliding mode variable structure.
Detailed Description
According to the sliding mode variable structure-based permanent magnet synchronous linear motor control method and device, a permanent magnet synchronous linear motor model is established, then an overall simulation module of the permanent magnet synchronous linear motor is established and parameter adjustment is carried out, then a proper sliding mode variable structure is selected and a corresponding simulation module is established, and finally simulation and result comparison are carried out through sliding mode variable structure control.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
The main thought of the scheme is as follows: the control method is characterized in that a traditional PID controller is replaced by a sliding mode variable structure controller, the method is improved to a certain extent on a speed ring of a linear motor, and traditional single PID control is changed into sliding mode control, so that the speed response is faster, the overshoot is smaller, and the anti-interference capability is stronger. The sliding mode variable structure control algorithm is simple, robustness is good, reliability is high, the sliding mode variable structure control algorithm can be well applied to the nonlinear motion control process, the scheme provides a control method for replacing a PID (proportion integration differentiation) controller in a speed ring with a sliding mode controller, and experimental simulation results show that the system is well improved in aspects of rapidity, interference resistance and the like.
The embodiment of the invention provides a permanent magnet synchronous linear motor control method based on a sliding mode variable structure, which comprises the following specific steps of:
step one, establishing a permanent magnet synchronous linear motor model;
specifically, in the embodiment of the invention, since the simulink does not have a simulation model of the linear motor, the scheme is to establish a voltage and mechanical module according to a mathematical model of the PMLSM, and establish a simulation module of the linear motor, namely a permanent magnet synchronous linear motor model, according to a kinetic equation.
Further, the thrust of linear electric motor in this scheme is:
Wherein L isd＝Lq= L, and in practical control strategies, i is generally takendAs 0, the linear motor thrust equation can be simplified as:
In addition, the kinetic equation of the permanent magnet synchronous linear motor is as follows:
Wherein L isd,LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor, and m is the motor mass.
Step two, establishing an integral simulation module of the permanent magnet synchronous linear motor and adjusting parameters;
specifically, in the embodiment of the present invention, an overall simulation module of the permanent magnet synchronous linear motor, including but not limited to a speed and current loop PID control module, an SVPWM module, etc., is established, and parameter adjustment is performed to obtain initial parameters of each PID controller.
In this scheme, the thrust equation of the linear motor is:
The dynamic equation of the permanent magnet synchronous linear motor is as follows:
Wherein L isd,LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor, and m is the motor mass.
From the formula (2) and the formula (3) can be obtained
Is written as <math>
<mrow>
<mover>
<mi>v</mi>
<mo>·</mo>
</mover>
<mo>=</mo>
<mfrac>
<msub>
<mrow>
<mn>3</mn>
<mi>πψ</mi>
</mrow>
<mi>f</mi>
</msub>
<mrow>
<mn>2</mn>
<mi>τm</mi>
</mrow>
</mfrac>
<msubsup>
<mi>i</mi>
<mi>q</mi>
<mo>*</mo>
</msubsup>
<mo>+</mo>
<mi>a</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
</math> Formula (5)
Wherein,
defining the speed error as e ═ v × v, then
Selecting a proper sliding mode variable structure and establishing a corresponding simulation module;
specifically, in the embodiment of the invention, a proper sliding mode variable structure is selected and a corresponding simulink simulation module is established according to a mathematical model of the linear motor.
Further, when the system moves to the sliding mode surface, s is 0 and s is 0. The final aim of the controller is that the system reaches the sliding mode surface within limited time and is stabilized on the sliding mode surface, and the scheme selects a sliding mode variable structure control scheme as follows:
u＝ueq+uswformula (6)
Wherein u iseq＝ne，uswSince fsign(s), equation (6) is rewritten as
A model of the sliding mode controller can be established according to equation (7) as shown in fig. 2 (i.e., an integral sliding mode controller model).
The entire model of PMLSM sliding mode control under Simulink can thus be built, as shown in fig. 3.
And fourthly, performing simulation and result comparison through sliding mode variable structure control.
Specifically, in the embodiment of the invention, the speed loop PID controller is simulated instead of sliding mode variable structure control and compared with the simulation result of the PID controller.
Further, in the present embodiment, the speed is given to be 1m/s, and the simulation results in the absence of disturbance are shown in fig. 4 and 5. Wherein, fig. 4 is a schematic diagram of a speed simulation waveform of the PID controller; fig. 5 is a schematic diagram of a speed simulation waveform of the sliding mode controller.
In addition, as can be seen from the speed simulation waveform, the response time and overshoot of the conventional PID are 0.2S and 9.8% respectively, while the response time and overshoot of the sliding mode variable structure controller are 0.042S and 0.6% respectively, and the system is greatly improved in the aspect of rapidity of overshoot. To test system stability, the spike disturbance waveform at 0.5S is shown in fig. 6 and 7. FIG. 6 is a schematic diagram of a velocity simulation waveform when a PID controller suddenly adds a disturbance; FIG. 7 is a schematic diagram of a speed simulation waveform when a sliding mode controller suddenly adds a disturbance.
Compared with the figure, the PID control has larger disturbance when the system is loaded suddenly, and the sliding mode variable structure controller can well inhibit the disturbance of the external disturbance to the system and has stronger anti-interference performance. The thrust force comparison waveform is shown in fig. 8. The sliding mode variable structure control is faster than a PID controller in thrust response, so that the system has better control performance.
In addition, the embodiment of the invention also provides a permanent magnet synchronous linear motor control device based on the sliding mode variable structure. Fig. 9 is a schematic diagram of a permanent magnet synchronous linear motor control device based on a sliding mode variable structure according to an embodiment of the present invention.
A permanent magnet synchronous linear motor control device based on a sliding mode variable structure comprises a model establishing unit 11, a parameter adjusting unit 22, a selecting unit 33 and a comparing unit 44.
The model establishing unit 11 is used for establishing a permanent magnet synchronous linear motor model;
specifically, in the embodiment of the invention, since the simulink does not have a simulation model of the linear motor, the scheme is to establish a voltage and mechanical module according to a mathematical model of the PMLSM, and establish a simulation module of the linear motor, namely a permanent magnet synchronous linear motor model, according to a kinetic equation.
Further, the thrust of linear electric motor in this scheme is:
Wherein L isd＝Lq= L, and in practical control strategies, i is generally takendAs 0, the linear motor thrust equation can be simplified as:
formula (2)
In addition, the kinetic equation of the permanent magnet synchronous linear motor is as follows:
formula (3)
Wherein L isd,LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor, and m is the motor mass.
The parameter adjusting unit 22 is used for establishing an integral simulation module of the permanent magnet synchronous linear motor and adjusting parameters;
specifically, in the embodiment of the present invention, an overall simulation module of the permanent magnet synchronous linear motor, including but not limited to a speed and current loop PID control module, an SVPWM module, etc., is established, and parameter adjustment is performed to obtain initial parameters of each PID controller.
In this scheme, the thrust equation of the linear motor is:
The dynamic equation of the permanent magnet synchronous linear motor is as follows:
Wherein L isd,LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor, and m is the motor mass.
From the formula (2) and the formula (3) can be obtained
Is written as
Wherein,
defining the speed error as e ═ v × v, then
Is output by the sliding mode controller. Selecting integral sliding mode surface as <math>
<mrow>
<mi>s</mi>
<mo>=</mo>
<mi>e</mi>
<mo>+</mo>
<mi>c</mi>
<msubsup>
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<mn>0</mn>
<mi>t</mi>
</msubsup>
<mi>edτ</mi>
<mo>,</mo>
</mrow>
</math> <math>
<mrow>
<mi>c</mi>
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<mn>3</mn>
<mi>πψ</mi>
</mrow>
<mi>f</mi>
</msub>
<mrow>
<mn>2</mn>
<mi>τn</mi>
</mrow>
</mfrac>
<mi>n</mi>
<mo>,</mo>
</mrow>
</math> n is a positive number.
The selection unit 33 is used for selecting a proper sliding mode variable structure and establishing a corresponding simulation module;
specifically, in the embodiment of the invention, a proper sliding mode variable structure is selected and a corresponding simulink simulation module is established according to a mathematical model of the linear motor.
Further, when the system moves to the sliding mode face, there are s =0 and s = 0. The final aim of the controller is that the system reaches the sliding mode surface within limited time and is stabilized on the sliding mode surface, and the scheme selects a sliding mode variable structure control scheme as follows:
u＝ueq+uswformula (6)
Wherein u iseq＝ne，uswSince fsign(s), equation (6) is rewritten as
A model of the sliding mode controller can be established according to equation (7) as shown in fig. 2 (i.e., an integral sliding mode controller model).
The entire model of PMLSM sliding mode control under Simulink can thus be built, as shown in fig. 3.
And the comparison unit 44 is used for performing simulation and result comparison through sliding mode variable structure control.
Specifically, in the embodiment of the invention, the speed loop PID controller is simulated instead of sliding mode variable structure control and compared with the simulation result of the PID controller.
Further, in the present embodiment, the speed is given to be 1m/s, and the simulation results in the absence of disturbance are shown in fig. 4 and 5. Wherein, fig. 4 is a schematic diagram of a speed simulation waveform of the PID controller; fig. 5 is a schematic diagram of a speed simulation waveform of the sliding mode controller.
In addition, as can be seen from the speed simulation waveform, the response time and overshoot of the conventional PID are respectively 0.2S and 9.8%, while the response time and overshoot of the sliding mode variable structure controller are respectively 0.042S and 0.6%, and the system is greatly improved in the aspect of rapidity of overshoot. To test system stability, the spike disturbance waveform at 0.5S is shown in fig. 6 and 7. FIG. 6 is a schematic diagram of a velocity simulation waveform when a PID controller suddenly adds a disturbance; FIG. 7 is a schematic diagram of a speed simulation waveform when a sliding mode controller suddenly adds a disturbance.
Compared with the figure, the PID control has larger disturbance when the system is loaded suddenly, and the sliding mode variable structure controller can well inhibit the disturbance of the external disturbance to the system and has stronger anti-interference performance. The thrust force comparison waveform is shown in fig. 8. The sliding mode variable structure control is faster than a PID controller in thrust response, so that the system has better control performance.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
In summary, the invention provides a sliding mode variable structure-based permanent magnet synchronous linear motor control method and device, a permanent magnet synchronous linear motor model is established, then an overall simulation module of the permanent magnet synchronous linear motor is established and parameter adjustment is carried out, then a proper sliding mode variable structure is selected and a corresponding simulation module is established, and finally simulation and result comparison are carried out through sliding mode variable structure control.
The sliding mode variable structure-based permanent magnet synchronous linear motor control method and device provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the scheme of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A permanent magnet synchronous linear motor control method based on a sliding mode variable structure is characterized by comprising the following steps:
step one, establishing a permanent magnet synchronous linear motor model;
step two, establishing an integral simulation module of the permanent magnet synchronous linear motor and adjusting parameters;
selecting a proper sliding mode variable structure and establishing a corresponding simulation module;
and fourthly, performing simulation and result comparison through sliding mode variable structure control.
2. The method according to claim 1, wherein in the first step, a permanent magnet synchronous linear motor model is built according to a kinetic equation.
3. The method of claim 2, wherein the equations of dynamics of the permanent magnet synchronous linear motor are:
wherein L isd，LqIs a direct and quadrature axis inductance, phifIs a permanent magnet flux linkage of a linear motor; v is the speed of the linear motor; and m is the motor mass.
4. The method according to claim 1, wherein the first step further comprises building a voltage and mechanical module according to a mathematical model, and building a permanent magnet synchronous linear motor model according to a dynamic equation.
5. The method according to claim 1, wherein in the second step, a whole simulation module of the permanent magnet synchronous linear motor is established, including but not limited to a speed and current loop PID control and SVPWM module.
6. The method according to claim 1, wherein in the second step, parameter adjustment is performed to obtain initial parameters of each PID controller.
7. The method of claim 1, wherein in the third step, the sliding mode variable structure control scheme is:
u＝ueq+usw
wherein u iseq＝ne，uswFsign(s), therefore
8. A permanent magnet synchronous linear motor control device based on a sliding mode variable structure is characterized by comprising a model establishing unit, a parameter adjusting unit, a selecting unit and a comparing unit, wherein a permanent magnet synchronous linear motor model is established, then an integral simulation module of the permanent magnet synchronous linear motor is established and parameter adjustment is carried out, then a proper sliding mode variable structure is selected and a corresponding simulation module is established, and finally simulation and result comparison are carried out through sliding mode variable structure control.
9. The apparatus of claim 8, wherein the model building unit is configured to build a permanent magnet synchronous linear motor model.
10. The device of claim 8, wherein the parameter adjusting unit is used for establishing an overall simulation module of the permanent magnet synchronous linear motor and performing parameter adjustment.
11. The apparatus according to claim 8, wherein the selecting unit is configured to select a suitable sliding mode variable structure and establish a corresponding simulation module.
12. The apparatus of claim 11, wherein the comparing unit is configured to perform simulation and result comparison by sliding mode variable structure control.
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Cited By (7)
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| CN103248312A (en) * | 2013-04-26 | 2013-08-14 | 杭州中科赛思伺服电机有限公司 | Control method based on linear servo motor |
| CN103336483A (en) * | 2013-05-22 | 2013-10-02 | 沈阳工业大学 | Control methods for time-varying sliding mode variable structure and for cross-coupling control magnetic suspension system |
| CN103780168A (en) * | 2014-01-16 | 2014-05-07 | 江苏新绿能科技有限公司 | Brushless DC-motor sliding-mode control system used for metro shielding barriers |
| CN104682805A (en) * | 2015-01-21 | 2015-06-03 | 浙江工业大学 | Permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on extended state observer |
| CN106841531A (en) * | 2017-03-22 | 2017-06-13 | 吉林大学 | Ammonia coverage rate nonlinear observer design method based on synovial membrane control |
| CN106873358A (en) * | 2015-11-19 | 2017-06-20 | 欧姆龙株式会社 | Control Device And Control Method |
| CN108021039A (en) * | 2017-12-23 | 2018-05-11 | 西安交通大学 | A kind of Linear motor feeding system electromechanics integrated modelling approach |
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Cited By (11)
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|---|---|---|---|---|
| CN103248312A (en) * | 2013-04-26 | 2013-08-14 | 杭州中科赛思伺服电机有限公司 | Control method based on linear servo motor |
| CN103336483A (en) * | 2013-05-22 | 2013-10-02 | 沈阳工业大学 | Control methods for time-varying sliding mode variable structure and for cross-coupling control magnetic suspension system |
| CN103336483B (en) * | 2013-05-22 | 2015-11-04 | 沈阳工业大学 | Time become the control method of sliding moding structure and cross-coupling control magnetic suspension system |
| CN103780168A (en) * | 2014-01-16 | 2014-05-07 | 江苏新绿能科技有限公司 | Brushless DC-motor sliding-mode control system used for metro shielding barriers |
| CN104682805A (en) * | 2015-01-21 | 2015-06-03 | 浙江工业大学 | Permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on extended state observer |
| CN104682805B (en) * | 2015-01-21 | 2017-07-25 | 浙江工业大学 | Permagnetic synchronous motor full-order sliding mode structure changes position servo control method based on extended state observer |
| CN106873358A (en) * | 2015-11-19 | 2017-06-20 | 欧姆龙株式会社 | Control Device And Control Method |
| CN106841531A (en) * | 2017-03-22 | 2017-06-13 | 吉林大学 | Ammonia coverage rate nonlinear observer design method based on synovial membrane control |
| CN106841531B (en) * | 2017-03-22 | 2019-04-23 | 吉林大学 | Ammonia coverage rate Nonlinear Observer Design method based on synovial membrane control |
| CN108021039A (en) * | 2017-12-23 | 2018-05-11 | 西安交通大学 | A kind of Linear motor feeding system electromechanics integrated modelling approach |
| CN108021039B (en) * | 2017-12-23 | 2020-03-17 | 西安交通大学 | Electromechanical integration modeling method for linear motor feeding system |
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Application publication date: 20120912 |