Cooperative Position Control Research Of Networked Multiple Linear Switched Reluctance Motors

As a new type of linear motor,linear switched reluctance motor has the advantages of simple structure,fast response speed,good follow-up,high positioning accuracy and high working safety and reliability,which can be applied to high-precision linear motion position control system.In addition,compared with the traditional point-to-point wired transmission mode,the networked control system combines the network and entity effectively,whose network transmission control mode can not only transmit the information like what the wired transmission does and overcome the disadvantage of a large number of wiring in traditional control,but also has the characteristics of low cost,light weight,good expansibility and easy maintenance.Therefore,the network control method and linear switch reluctance motor control system are effectively combined in this paper,and the following researches are carried out.Firstly,the linear switched reluctance motor is used as the moving object,its three-phase bilateral asymmetric structure is given.according to its principle of least reluctance,the motion process of the motor under magnetic thrust is analyzed.the expression of the motor traction force is obtained by the electromagnetic equation,and the second-order dynamic equation expression of the motor is given.Secondly,the relative method and the lemma needed to analyze the stability and solve the parameters of this paper are introduced in the preliminary knowledge,and the experimental platform is introduced.Then,the control structure of linear switch reluctance motor system is analyzed,and the relationship and function of each part are expounded.Combining with the networked control method,the random communication delay is described by Markov chain,and the modeling,stability analysis,position compensation controller design and control parameter solution of the networked composite linear switch reluctance motor control system are carried out,and the validity of the method is verified based on the experimental test results.Then,the cooperative control system of two motors is extended to the research of multi-motor cooperative control system.The basic knowledge of graph theory and matrix is introduced to determine the system Laplace matrix under chain and loop topology.Similarly,for different topologies,the modeling,stability analysis,position compensation controller design and control parameter solution of the networked multiple linear switched reluctance motor cooperation control system are studied,and the validity of the method is verified based on the experimental test results.Finally,considering the influence of system model parameter uncertainty caused by motor quality damage and inaccuracy of motor parameter identification results,the closed-loop model of the networked multiple linear switch reluctance system with parameter uncertainty is established,and the stability analysis,robust controller design and control parameter solution are studied,the validity of the method is verified by experimental results.