Research On Adaptive Control For The Planar Switched Reluctance Motor

Planar switched reluctance motors(PSRMs) have the advantages of direct drive, simple structure, low cost, quick response, and so on. However, it is hard to achieve high-precision motion of PSRMs, since the inherent characteristics of nonlinear magnetic circuit, force ripple, and have no mechanical buffer device, etc, as well as the modeling uncertainty caused by the processing and manufacturing and external disturbance. Applying an effective control method is one of approaches to address these issues. The adaptive control method is capable of automatically compensating the unpredictable change and uncertainty for model, parameters and input single, which is an expected method to achieve high-precision motion for PSRMs control system. Therefore, the adaptive control method for the PSRM is researched in this paper. The main work is clarified as follows.The structure and the working principle of the PSRM are expounded firstly. Then, the electromagnetic coupling of movers and structure of the PSRM control system are analyzed, and the mathematical model of the PSRM is established. The model reference adaptive controller(MRAC) of the PSRM system is designed using input and output variables according to Lyapunov stability theory, and the model matching and design of adaptive control quantity are derived in detail. Furthermore, the control of trajectory tracking of the PSRM system employed a pole assignment self-tuning controller(STC) is studied. To avoid the "data saturation" caused by parameter identification of the PSRM, a recursive least squares algorithm with genetic factor is introduced. An indirect self-tuning control system of the PSRM is designed based on the pole assignment, the structure of the regulator is improved, and the problem of controller saturation caused by the physical realizability is solved.A real-time experimental platform is established based on d SPACE, the position control of the PSRM system with the MRAC is performed, and the control of several trajectory tracking of the PSRM system with the pole assignment self-tuning control is carried out. Experimental results demonstrate that the PSRM position control system employing the MRAC method improve the position precision, the steady-state position error is less than 500 nm when the PSRM runs without load, and the steady-state position error is less than 4.7μm as the mass load is put in the system; for the PSRM system with the pole assignment self-tuning controller, the dynamic tracking error for different reference trajectories is less than 82 μm, and the dynamic tracking error is less than 82 μm as the mass load is put in the moving platform; the PSRM system with the adaptive controller has good self-adjusting performance and high-precision motion.