| Permanent magnet linear motors (PMLM) can directly produce linear motion without intermediate gears, screws, and so on. Because of their advantages of high precision, large thrust force and fast response, they are widely used for many applications, ranging from the high-performance motion control to the high power traction drive.For the control of large thrust force PMLM of a new linear motor pumping unit with strong electrical interference and periodic disturbance thrust, this paper presents a vector control scheme based on repetitive control compensation. A drive control system of PMLM with good immunity is designed, and then the drive control system is validated with experiments.In this paper, based on the transformation of vector, the mathematic model of PMLM is built, and then the vector control principle of PMLM is analyzed. Considering the periodic disturbance thrust caused by the cogging and end effect of PMLM, a PID Control based on repetitive compensation is used to suppress the ripple force, and a vector control scheme based repetitive compensation is proposed.Secondly, the hardware system of large thrust force PMLM is designed. Based on DSP+FPGA+IPM hardware system structure, the hardware system, including control circuit, interface circuit, detest circuit, major circuit, switch resource, protect circuit and so on are designed. Considering the strong electromagnetic interference of PMLM, the difference driving circuit of IPM and the filter circuit of IPM are utilized to enhance the stability and reliability of the drive control system.Furthermore, according to the functional requirements of the servo system, the software system of drive control of PMLM is designed. Based configuration of the software, the algorithm, process and module, like A/D conversion of current detection, repetitive compensation PID, position and velocity detection, SVPWM and motor startup etc, are designed.Lastly, the effectiveness of the system is validated with experiments. |
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