CN-121984399-A - Control method, device, equipment and storage medium of permanent magnet synchronous linear motor

CN121984399ACN 121984399 ACN121984399 ACN 121984399ACN-121984399-A

Abstract

The application discloses a control method, a device, equipment and a storage medium of a permanent magnet synchronous linear motor. The method comprises the steps of constructing a mathematical model of the permanent magnet synchronous linear motor, constructing a sliding mode observer model based on the mathematical model, estimating parameters of a rotor based on the self-adaptive extended state observer, and forming closed-loop control by combining space vector pulse width modulation based on a designed self-adaptive robust controller. According to the control method provided by the embodiment of the application, the mathematical model of the permanent magnet synchronous linear motor is constructed, the sliding mode observer model is constructed based on the mathematical model, the parameters of the rotor are estimated based on the self-adaptive extended state observer, the closed loop control is formed by combining space vector pulse width modulation based on the designed self-adaptive robust controller, the high-precision collaborative observation of the rotor speed, total interference and uncertainty rotor can be realized, the sensorless control of the influence of the observation error is inhibited by combining the robust control strategy, and the speed tracking precision and the running stability of the permanent magnet synchronous linear motor are improved.

Inventors

GUO RONG
SHI YANING
ZHANG XIAOYU
SONG YANG
LI SIJIE
LIU ANJUN

Assignees

北京建筑大学

Dates

Publication Date: 20260505
Application Date: 20260115

Claims (10)

1. A control method of a permanent magnet synchronous linear motor, characterized by comprising: Constructing a mathematical model of the permanent magnet synchronous linear motor; constructing a sliding mode observer model based on the mathematical model; estimating parameters of the mover based on the adaptive extended state observer; based on the designed self-adaptive robust controller, the closed-loop control is formed by combining space vector pulse width modulation.
2. The method of claim 1, wherein the design-based adaptive robust controller in combination with space vector pulse width modulation forms a closed loop control comprising: Inputting a stator end voltage command output by a designed adaptive robust controller into a driver of the permanent magnet synchronous linear motor to generate a switching signal, wherein the switching signal is used for driving the permanent magnet synchronous linear motor; The current value of the acquired inverter is transformed and then is supplied to the sliding mode observer model to obtain a back electromotive force observation value, the back electromotive force observation value is input into the self-adaptive extended state observer, the speed of the rotor and the total interference are observed, the speed and the total interference are input into the self-adaptive robust controller, the control current is obtained, and the closed loop control is formed by combining space vector pulse width modulation.
3. The method of claim 1, wherein constructing a mathematical model of a permanent magnet synchronous linear motor comprises: And constructing a voltage mathematical model and a mechanical mathematical model of the permanent magnet synchronous linear motor under the alpha-beta static coordinate system.
4. A method according to claim 3, wherein the mathematical voltage model is , Wherein, the , The mechanical mathematical model is as follows: , Wherein the method comprises the steps of For the electromagnetic thrust force to be applied, , Wherein, the 、 As a vector of the stator terminal voltage, 、 For the stator current vector to be a vector, For the resistance of the stator, For the stator inductance to be a function of the stator inductance, In order to obtain the electric angular velocity, Is the magnetic flux amplitude of the permanent magnet, Is the electrical angle of the mover, M is the mass of the mover, v is the linear velocity of the mover, In order to be the polar distance, B is the viscous friction coefficient for the loading force.
5. A method according to claim 3, wherein said constructing a sliding mode observer model based on said mathematical model comprises: constructing an integral sliding mode surface based on the electric angular velocity tracking error; and combining the interference observation value and the integral sliding mode surface to construct an adaptive law model and a speed controller.
6. The method of claim 5, wherein the method further comprises: And verifying the stability of the speed controller by using Lyapunov stability criteria.
7. The method of claim 5, wherein said verifying stability of said speed controller using lyapunov stability criteria comprises: Estimating a time derivative of the error based on the parameter uncertainty; calculating the time derivative of the Lyapunov function according to the parameter uncertainty, the time derivative, the integral sliding mode surface formula and the self-adaptive rate; based on the time derivative of the lyapunov function, the stability of the speed controller is verified.
8. A control device for a permanent magnet synchronous linear motor, comprising: The mathematical model construction module is used for constructing a mathematical model of the permanent magnet synchronous linear motor; the sliding mode observer model building module is used for building a sliding mode observer model based on the mathematical model; the parameter estimation module is used for estimating the parameters of the mover based on the adaptive expansion state observer; And the closed-loop control module is used for forming closed-loop control by combining space vector pulse width modulation based on the designed self-adaptive robust controller.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the method of controlling a permanent magnet synchronous linear motor according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the control method of a permanent magnet synchronous linear motor according to any one of claims 1 to 7.

Description

Control method, device, equipment and storage medium of permanent magnet synchronous linear motor Technical Field The application relates to the technical field of motors, in particular to a control method, a device, equipment and a storage medium of a permanent magnet synchronous linear motor. Background The permanent magnet synchronous linear motor (PERMANENT MAGNET LINEAR Synchronous Motor, PMLSM) has the advantages of high speed, high precision, high thrust density and low heat loss, and is widely applied to the field of industrial precise motion control. The PMLSM control in the related art needs to rely on a position sensor (such as a grating ruler and an encoder) to realize closed-loop feedback so as to complete electric phase conversion and track tracking, but has the defects of low observation precision and unstable tracking performance. The statements made above merely serve to provide background information related to the present disclosure and may not necessarily constitute prior art. Disclosure of Invention The application aims to provide a control method of a permanent magnet synchronous linear motor, a control device of the permanent magnet synchronous linear motor, electronic equipment and a computer readable storage medium. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. According to an aspect of an embodiment of the present application, there is provided a control method of a permanent magnet synchronous linear motor, including: Constructing a mathematical model of the permanent magnet synchronous linear motor; constructing a sliding mode observer model based on the mathematical model; estimating parameters of the mover based on the adaptive extended state observer; based on the designed self-adaptive robust controller, the closed-loop control is formed by combining space vector pulse width modulation. In some embodiments of the present application, the design-based adaptive robust controller, in combination with space vector pulse width modulation, forms a closed loop control, comprising: Inputting a stator end voltage command output by a designed adaptive robust controller into a driver of the permanent magnet synchronous linear motor to generate a switching signal, wherein the switching signal is used for driving the permanent magnet synchronous linear motor; The current value of the acquired inverter is transformed and then is supplied to the sliding mode observer model to obtain a back electromotive force observation value, the back electromotive force observation value is input into the self-adaptive extended state observer, the speed of the rotor and the total interference are observed, the speed and the total interference are input into the self-adaptive robust controller, the control current is obtained, and the closed loop control is formed by combining space vector pulse width modulation. In some embodiments of the present application, the constructing a mathematical model of a permanent magnet synchronous linear motor includes: And constructing a voltage mathematical model and a mechanical mathematical model of the permanent magnet synchronous linear motor under the alpha-beta static coordinate system. In some embodiments of the application, the voltage mathematical model is , Wherein, the , The mechanical mathematical model is as follows: , Wherein the method comprises the steps of For the electromagnetic thrust force to be applied, , Wherein, the 、As a vector of the stator terminal voltage,、For the stator current vector to be a vector,For the resistance of the stator,For the stator inductance to be a function of the stator inductance,In order to obtain the electric angular velocity,Is the magnetic flux amplitude of the permanent magnet,Is the electrical angle of the mover, M is the mass of the mover, v is the linear velocity of the mover,In order to be the polar distance,B is the viscous friction coefficient for the loading force. In some embodiments of the application, the constructing a sliding mode observer model based on the mathematical model includes: constructing an integral sliding mode surface based on the electric angular velocity tracking error; and combining the interference observation value and the integral sliding mode surface to construct an adaptive law model and a speed controller. In some embodiments of the application, the method further comprises: And verifying the stability of the speed controller by using Lyapunov stability criteria. In some embodiments of the application, the verifying the stability of the speed controller using lyapunov stability criteria comprises: Estimating a time derivati