Research On Linear Planar Motor Positioning System

For high precision positioning platform,when the plane by linear motor driven process,vulnerable to system parameter perturbation and load disturbance,the problems of uncertainty analysis,in order to meet the requirements of high precision positioning platform positioning precision fast response,study and put forward a kind of controller,it has high precision positioning,fast response speed,strong ability to resist disturbance of advantages.The second order sliding mode superhelical algorithm is used to control the permanent magnet synchronous plane motor,and the superhelical controller and disturbance observer compensate each other.When the linear plane motor is used to determine and control the position of the platform,the speed is faster,and the accuracy is higher.At the same time,it can be completed with multiple degrees of freedom.The permanent magnet synchronous plane motor is chosen as the research object,and its working principle and motor structure are analyzed.The mathematical model of permanent magnet synchronous linear motor is analyzed,and the relation between the input position of the motor and the input position of each motor is obtained by coordinate transformation.The equation of permanent magnet synchronous linear motor is obtained by force analysis.The dynamics of permanent magnet synchronous plane motor is analyzed under ideal hypothesis.Sliding mode control（SMC）is proposed for planar motor control.Because the switching function has been introduced into the first-order sliding mode control algorithm,the current waveform has a relatively large chattering phenomenon,and the second-order sliding mode variable structure control is derived from the aspect of chattering suppression,and the chattering phenomenon can be eliminated in principle by using the simplest super helicoidal algorithm.By using the software of Matlab simulink module of super plane spiral sliding mode control motor in the process of model building,and complete the simulation,and the Matlab simulation in the design of the controller,can also be concluded from the simulation results,super-twisting algorithm in comparison with the current waveform of first-order sliding mode algorithm more smoothly,and can effectively restrain the chattering.Based on the permanent magnet synchronous linear motor（PMSM）and the structural characteristics of PMSM,a compensating control strategy of super spiral sliding mode controller and disturbance observer is proposed.A super spiral sliding mode disturbance observer is designed based on the basic disturbance observer.Disturbance observer and super-twisting controller are mutually compensating,which can effectively improve system performance.Motor for tracking simulation,the simulation of a given load suddenly,at the same time also can complete system on a single degree of freedom and three degrees of freedom simulation of the process in which position to determine,on the basis of the result of the simulation to get found application method of motor control surface can achieve planar motor positioning system high precision requirement of fast response,of course also has a good reliability and stability.