Research On Self-tuning Position Control Of Long-stroke Composite Switched Reluctance Motor

Under the call of "building China into an industrial power" and "industrial 2025",industrial products,instruments and machines have become more and more advanced,and their related production and assembly operations are becoming more unmanned and automated.In the field of traditional industrial linear transmission,the rotating motor is widely used in combination with mechanical movement mechanism such as conveyor belt,gear,silk rod and so on.But there are also problems of large volume,low efficiency,low accuracy,and wear and aging of conveyor belts and mechanical parts over time.In recent years,linear switched reluctance motor(LSRM)is being paid more and more attention for its advantages of simple structure,high output density,low heat consumption,easy realization and so on.In view of the complex situation of industrial linear transmission and the advantages of linear switched reluctance motor,a composite linear switched reluctance motor consisting of a bilateral asymmetrical linear switched reluctance motor is designed in this paper.It is divided into two parts: the primary and the secondary actuator.The motor has the advantages of simple structure,long stroke,high position precision under bad conditions and high position precision.It can provide a new idea of multi task execution for industrial linear transmission,and can greatly improve the speed and efficiency of the whole transmission system.In this paper,the mathematical model and control principle of the linear switched reluctance motor are introduced.The principle,mathematical equation and excitation strategy of the composite linear switched reluctance motor are emphatically analyzed.Based on the control model of the composite linear switched reluctance motor,the interference between the two types of the primary actuator and the secondary motion is analyzed.The whole system is characterized by time-varying nonlinearity,and the system identification method of the recursive least square method with forgetting factor is proposed,and the system identification parameters are obtained.Then the position control of the main motion and subprime motion of the system is realized by using the self-tuning algorithm of pole assignment.On this basis,the design and selection of hardware designare described in detail,and the process and implementation of the software design of the system are described.Finally,on the dSPACE based motion control platform,the PID algorithm and the self-tuning algorithm are used to control the motion of the primary motion and subprime mover,and the experiment and data statistics are made.The experimental results show that,compared with the PID algorithm,under the control of the self-tuning algorithm,the absolute steady-state error of the position of the primary and secondary motion is 0.05 mm and 0.03 mm,respectively,while the two stage motion is synchronized,and the complex absolute precision of less than 0.6mm can be achieved.The experimental results prove that the self-tuning algorithm with pole placement makes the system achieve higher position control accuracy.