The Algorithm Research Position Control Based On Ironless Tubular Permanent Magnet Linear Motor

With the development of industrial automation, the permanent magnet linear motor has been widely used and the higher requirements on its performances have been put forward. In order to meet the higher requirements, developing an advanced control method is found to be an effective way. In this paper, the research of coreless tubular permanent magnet linear motor(ITPMLM) is a new type of special motor which represents the future developing direction of the motor industry, it uses technologies of no iron, no core brushless, no reluctance and rare earth permanent magnet motor. Additionally,it has changed the structure of the traditional motor using silicon steel sheet and winding stator and greatly improved the efficiency of the motor system.In this paper, the working principles, the basic structure and characteristics of ITPMLM are analyzed; the mathematical model of the motor in two-phase rotating coordinate system of the simulation model is given; the model of motor is established by using Maxwell electromagnetic finite element simulation software; the magnetic field distribution,thrust output torque and the electromagnetic characteristics of the motor are simulated and calculated by finite element to get the magnetic properties of the motor; Simulating the proportion integral differential(PID) control algorithm, the adaptive control algorithm and the sliding mode variable structure control algorithm on the Matlab/Simulink simulation platform to verify its feasibility. Under the same experimental conditions, three kinds of control algorithm are applied to the real-time position control of the motor when the same reference position signal is given to the system.Through the analysis of the experimental results, the advantages and disadvantages of control performances of the different control algorithms are shown on the same control object.The experimental platform of Position control system of ITPMLM including the hardware system and software system is built. Hardware system is mainly composedof the d SPACE motion control card, driver, position encoder and a power supply; the software part is mainly composed of Matlab/Simulink and d SPACE interface program,the control algorithms of the system are achieved by the Simulink module and the S-function to complete the testing. In this paper,the experimental results show that the sliding mode variable structure controller obtains the steady-state error of 3 within μm and has a rapid response when the reference input amplitude is 10 mm and the frequency of the square wave signal is 0.5Hz, what is more, the control effects of the pole placement adaptive control is slightly worse than the sliding mode control, the responses of PID control is symmetrical and the steady-state error is 52μm.