The invention discloses an internal-model-based
sliding mode control method capable of inhibiting mismatching disturbance of a
permanent magnet linear motor. The internal-model-based
sliding mode control method includes the steps that a five-phase fault-tolerant permanent
magnet cylindrical
linear motor model with mismatching disturbance is set up; an
internal model controller of an
ideal system is designed by adopting an
internal model control strategy; based on the motor second-order mathematic model, mismatching disturbance observers are designed to observe mismatching disturbance of a
motor system; two kinds of mismatching-disturbance-based observers are designed, the
sliding mode control rules (the symbol is shown in the description) of the
system under the two methods are solved; the expression (the symbol is shown in the description) is equivalently transformed to contain
system mismatching disturbance errors, the
Lyapunov function is selected, and the obtained sliding
mode control rules (the symbol is shown in the description), a d-axis
voltage set value (the symbol is shown in the description), an x-axis
voltage set value (the symbol is shown in the description) and a y-axis
voltage set value (the symbol is shown in the description) are used for achieving high-performance operation of the internal-model-based sliding
mode control system capable of inhibiting mismatching disturbance of the fault-tolerant permanent
magnet cylindrical
linear motor by means of a
voltage source inverter through a CPWM modulation method, wherein the d-axis voltage set value, the x-axis voltage set value and the y-axis voltage set value are output by a PI
current regulator.