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Research On Permanent Magnet Synchronous Linear Motor Position Servo Control System Based On Terminal Sliding Mode Control

Posted on:2020-02-07Degree:MasterType:Thesis
Country:ChinaCandidate:X P ChenFull Text:PDF
GTID:2392330578456272Subject:Control engineering
Abstract/Summary:PDF Full Text Request
The permanent magnet synchronous linear motor(PMSLM)is a conversion device that directly converts electric energy into kenitik energy,eliminating the intermediate conversion mechanism and the influence of the mechanical rotating chain.It is widely used in the fields of precision and high-speed operation because of its high speed,large thrust,and high precision.Due to the performance of PMSLM servo control system is susceptible to parameter variation,external disturbance and friction,how to design high performance linear motor control algorithm is one of the hot topic in control field.As a nonlinear control method,terminal sliding mode control technology is widely used in design control systems to improve the control performance of closed-loop systems due to its strong anti-disturbance performance and easy implementation.In this thesis,we first introduce the research status,basic structure and working principle of PMSLM,and give its methematical model.Then based on the model,a continuous-time terminal sliding mode control algorithm is proposed for the position control problem of PMSLM,so that the closed-loop system state can converge to the equilibrium point accurately and quickly.Secondly,considering that more and more control systems are based on digital control,based on Euler's discretization technology,the discrete time model of PMSLM is analyzed and obtained.A new discrete-time fast terminal sliding mode surface is introduced for the discrete model,and a discrete-time fast terminal sliding mode control algorithm based on equivalent control is designed.In addition,considering the external disturbances of the motor servo system are always inevitable,the disturbance compensation controller is designed,and the disturbance rejection performance of the system is improved.Based on the Lyapunov theory,the stability of the closed-loop system is strictly proved,and the validity of the theory is verified by Matlab simulation.Finally,a set of PMSLM position control test platform based on cSPACE is built in this paper.The proposed continuous-time terminal sliding mode control and discrete-time fast terminal sliding mode control algorithm are experimentally verified.The experimental results show that compared with the traditional PID and linear sliding mode controller,the control algorithm proposed in this paper can not only improve the convergence speed of the closed-loop system,reduce the steady-state error,but also improve the disturbance rejection performance of the system.
Keywords/Search Tags:Permanent magnet synchronous linear motor (PMSLM), Position control, Continuous-time terminal sliding mode control, Discrete-time fast terminal sliding mode control, Disturbance compensation control
PDF Full Text Request
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