Research On The Flat Type Permanent Magnet Linear Servo Motor And Its Driver System

Due to the advantages such as high thrust density, high transmission efficiency, fast response and so on, the permanent magnet linear servo motors (PMLSM) have become the hottest applications in the field of high-speed and high-precision linear motion control. Based on the area of the flat type PMLSM, this thesis widely read the latest research achievements in this area and systematically summarized the theoretical hot system. After simulation analysis and experimental tests, the following works were completed:Firstly, the feature of detent force, characteristics of thrust and friction for the flat type PMLSM are analyzed based on FEM simulation and experimental tests. By establishing the unit cogging force model and listing the cogging force expressions of each key points, it is concluded that the wavelength of cogging force is the greatest common devisor of the slot pitch and the pole pitch to PMLSM.Secondly, based on the theoretical analyses of the mathematical model and disturbance factors, combined control strategy of "PID feedback control+feedforward compensation+observe and compensation" is proposed. It inserts both the feedforward compensation scheme aiming at certain force model and the compensation scheme aiming at the load disturbance into the proposed PID feedback control strategy, which is verified by simulation analyses.Thirdly, based on the analysis of the PMLSM mathematical model, the position loop with variable structure control (VSC) state equations and equivalent control model are established. More accurate and comprehensive method for determining the control parameters and the equivalent model parameters are analyzed, and then the position loop sliding mode controller is designed. By comparing the conventional structure and the structure with integral compensator by simulation, it is concluded that the proposed structure can solve the vibration caused by external disturbance and load variations, attenuate effectively the chattering. Its advantages are overcoming the system oscillations generated by mover mass and permanent magnet flux linkage and improving the robustness and control precision of the system.Finally, the drive controller of the permanent magnet linear servo motor is designed. Its performance with velocity close loop control and position close loop control are verified by measurement.