A Composite Suppression Method for Thrust Fluctuation of Permanent Magnet Linear Motor Based on Tabu and Dob

A permanent magnet linear motor, thrust fluctuation technology, applied in motor generator control, electronic commutation motor control, control generator and other directions, can solve the periodic disturbance suppression effect is not obvious, cannot suppress thrust fluctuation, and the algorithm runs for a long time and other problems, to avoid falling into local optimum, improve the late convergence speed and parameter identification accuracy, and improve the tracking accuracy.

Active Publication Date: 2020-11-03
NANJING INST OF TECH
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Problems solved by technology

Commonly used control strategies include neural network, adaptive control and iterative learning. These methods effectively suppress thrust fluctuations while increasing the amount of computation, and the algorithm takes a long time to run, which affects the real-time performance of the control.
Adding a disturbance observer to the control system can effectively reduce the non-periodic thrust fluctuation, but the suppression effect on the periodic disturbance is not obvious
The periodic positioning force can be suppressed by changing the q-axis current, but the thrust fluctuation caused by uncertain factors such as friction, motor parameter changes, and uneven magnetization of permanent magnets cannot be suppressed

Method used

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  • A Composite Suppression Method for Thrust Fluctuation of Permanent Magnet Linear Motor Based on Tabu and Dob
  • A Composite Suppression Method for Thrust Fluctuation of Permanent Magnet Linear Motor Based on Tabu and Dob
  • A Composite Suppression Method for Thrust Fluctuation of Permanent Magnet Linear Motor Based on Tabu and Dob

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Embodiment Construction

[0023] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] Such as figure 1 , the permanent magnet synchronous linear motor thrust fluctuation compound suppression method of the present invention is based on the conventional three-closed-loop linear motor servo control system, adding a positioning force feedforward controller and a state observer.

[0025] Among them, the position controller uses the actual position x of the motor mover * Error from desired position x as input, desired velocity v * as output;

[0026] The speed controller uses the motor actual speed v and v * The error as input, the desired current i q * as output;

[0027] The feedforward controller outputs a feedforward compensation current i according to the actual position and expected speed of the motor mover pre Suppress thrust fluctuations caused by periodic positioning force;

[0028] DOB (distu...

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Abstract

The invention discloses a Tabu- and DOB-based thrust ripple combination suppression method of a permanent-magnet linear motor. A parameter of a positioning force mathematical model is identified by animproved Tabu algorithm, a positioning force feedforward controller is built accordingly, and the positioning force feedforward controller is combined with a novel disturbance observer connected in series with a low-pass filter. By the Tabu- and DOB-based thrust ripple combination suppression method, the thrust ripple of the linear motor can be effectively suppressed, and the tracking accuracy ofa servo system is improved.

Description

technical field [0001] The invention relates to a compound suppression method for thrust fluctuation of a permanent magnet synchronous linear motor, in particular to a compound suppression method for thrust fluctuation of a permanent magnet linear motor based on Tabu and DOB. Background technique [0002] In order to achieve high-speed and high-precision cutting in CNC machine tools, permanent magnet synchronous linear motors with iron cores are usually used as drive components. Iron-core linear motors not only have the advantages of high rigidity and high thrust, but also have cogging and end effects. The cogging force and edge force are generally referred to as the positioning force, and the positioning force changes periodically with the displacement of the linear motor mover, which is an important factor leading to the thrust fluctuation of the linear motor. In addition, uncertain factors such as changes in load resistance, nonlinear friction, ripple force, changes in m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/14H02P21/13H02P21/18H02P21/22
CPCH02P21/13H02P21/14H02P21/18H02P21/22
Inventor 林健谢高硕施昕昕周磊刘晗王通通
Owner NANJING INST OF TECH
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