Design of Robust Controller and Force Observer for PM Linear Synchronous Motors

摘要

The advantages of permanent magnet linear synchronous motors (PMLSM) include high speed and good motion precision compared with rotary motors. However, PMLSM are sensitive to uncertainties such as the parameter perturbations and end effect etc. A new nonlinear robust scheme of PMLSM is proposed to overcome this trouble.First, a quasi-linearized and decoupled model with uncertainties is derived from the mathematical model of PMLSM by using the conception of feedback linearization.Then a fixed-boundary-layer sliding mode controller using the msat function is designed to guarantee the robustness.Design of a force observer is given to estimate the load force unknown in the new model. Finally, the validity of the proposed strategy compared with the conventional PID control scheme is proved by the DSP-based experimental results.