Direct Thrust Force Control Of Primary Permanent Magnet Linear Motor Based On Data Driven

Primary permanent magnet linear motor(PPMLM)has outstanding advantages such as high thrust,high reliability,small turning radius,low cost and so on,it has broad application potential in urban rail transit and linear servo control systems.Due to the presence of nonlinear disturbances such as time-varying parameters,load disturbances,end effects and so on during the operation of primary permanent magnet linear motors,the performance of linear drive control systems is affected.Therefore,studying the optimization strategies of PPMLM control system has important theoretical and engineering practical significance.This thesis takes PPMLM as the research object,based on the model free adaptive control algorithm and adaptive dynamic programming algorithm in data driven control,completes the design of the speed loop optimization algorithms of PPMLM control system,realizes the data driven primary permanent magnet linear motor direct thrust force control,reduces the impact of nonlinear disturbance on the control system performance,improves the system control accuracy,and solves the problem of large thrust fluctuation in the direct thrust force control system.The research contents are as follows:(1)On the basis of analyzing the structure and working principle of PPMLM,the mathematical models of PPMLM under different coordinate systems were introduced,and a PPMLM direct thrust force control system was established.Furthermore,the nonlinear factors that affect the control performance of PPMLM were analyzed,providing a basis for designing optimization strategies of the PPMLM direct thrust force control system in the following text.(2)In response to the problems of large thrust fluctuation,poor control performance,and susceptibility to nonlinear disturbances in PPMLM,a model free adaptive control algorithm based on compact format is proposed to optimize the speed loop of the PPMLM direct thrust control force system.This algorithm improves the tracking effect of the speed curve,reduces thrust fluctuation,and suppresses nonlinear disturbances.(3)In order to further weaken the thrust fluctuation of PPMLM,improve the control accuracy and reduce the impact of nonlinear disturbances,the control algorithm combining model free adaptive control and predictive control is used to predict the pseudo partial derivative to improve the control accuracy and reduce the thrust fluctuation,and then combined with the improved extended state observer as feedforward compensation to reduce the impact of nonlinear disturbances in the system.In order to solve the problem that the large dimension of the prediction matrix leads to a large amount of computation in the proposed algorithm,an improved dynamic linearization model is proposed.The high-order pseudo partial derivative estimation algorithm is applied and combined with iterative learning control as feedforward compensation to further improve the rate of convergence and control accuracy of the speed curve.Once again,considering the problem of observation and compensation errors in the feedforward compensation of the system,a consider disturbances improved model free adaptive control algorithm is proposed,and the disturbances term inside the algorithm is estimated by extreme learning machine,which further improves the control performance of the system while considering the observation and compensation errors.(4)In order to overcome the problem of too many adjustable parameters of model free adaptive control algorithm and its improved algorithms,an adaptive dynamic programming algorithm is proposed to optimize the speed loop of PPMLM direct thrust force control system.The action dependent heuristic dynamic programming based on discrete strategy iterative algorithm is selected and designing the adaptive learning rate and robust compensation item to further improve the control performance of the system.The research conclusion of the thesis provides reference value for improving the control performance of the PPMLM direct thrust force control system.