CN101340173A - Method for suppressing pulse of linear motor pushing force system - Google Patents

Abstract

The invention relates to the field of linear motor control, in particular to a method for restraining the pulsation of a thrust system of a linear motor; the method adopts a sliding mode thrust controller and a magnetic flux controller, the thrust deviation and the magnetic flux deviation are selected as controlled variables, an integral sliding mode surface which is composed of the thrust deviation and the magnetic flux deviation design the sliding mode motion trajectory, thereby a system can move according to the sliding mode trajectory and the output thrust and the magnetic flux can better track specified value, wherein, a fuzzy controller utilizes the fuzzy control method which uses language information and data information to approach any specified continuous function to solve the jitter problem of a sliding mode control system. The method has the advantages that: a direct drive control system of the linear motor has strong coupling property, nonlinear property, multiple variables and unique end effect, the use of the direct thrust control method of the fuzzy sliding mode linear motor with high robust performance can solve the impacts of various factors on the control performance, thereby achieving the purposes of restraining the thrust pulsation of the linear motor and obtaining great dynamic response performance.

Description

A kind of method that suppresses pulse of linear motor pushing force system

Technical field

The present invention relates to a kind of linear electric motors control field, be suitable for suppressing the method for pulse of linear motor pushing force system.

Background technology

The linear electric motors Direct Driving System that linear motor combines with modern control technology and forms, the incomparable advantage of electric rotating machine drive system is arranged in some application scenario, this special forms of motion is in the industrial drives field, carrier, magnetic suspension system, direct drive machines people, application in numerical control machine tool and the AC servo control system is increasingly extensive, particularly, make the application prospect of linear electric motors Direct Driving System boundless along with development and the proposition of various Novel Control and the succeeding in developing of various high-performance electromagnetic materials of power electronic technology.

Linear electric motors directly drive the feeding mode that replaces traditional " electric rotating machine+ball-screw ", have eliminated middle transmission link, not only simplify the structure but also improved the entire system performance, and system accuracy, operation stability are improved.In recent years, the digital control system development that both at home and abroad linear electric motors is directly driven was paid attention to exploitation is special.

20th century the mid-80, direct motor control method, adopt direct torque control, utilize the analytical method of space voltage vector, stator flux orientation, directly under the stator coordinate system, analyze the Mathematical Modeling of motor, directly switching states is controlled according to stagnant ring of torque and the stagnant ring of magnetic linkage, to obtain high dynamic torque control performance.But factors such as magnetic linkage accuracy of detection, the variation of stator resistance parameter directly have influence on the torque control performance, cause the control system torque pulsation bigger.

Because on the structure of the linear motion actuator and the characteristics of aspect of performance, there is not buffering ground because of extraneous and self any disturbance meeting again, directly act on the linear electric motors, influenced the control performance of linear electric motors Direct Driving System, also there is the special end effect that is different from electric rotating machine in linear electric motors in addition, cause linear electric motors Direct Driving System control performance to be subjected to the influence of following these factors: as model uncertainty, the variation of structure and parameter, factors such as the change of running environment and external interference, the tradition control method, as the PID FEEDBACK CONTROL, decoupling zero control etc. is applicable to that the controlling object model is definite, parameter constantization and be linear situation, and running environment and condition do not change in the control procedure; Traditional Direct Thrust Force Control System of Linear Motor is to stagnate according to thrust to encircle and the stagnant ring of magnetic force, produces pulse-modulated signal by means of discrete two point form bias adjustment, directly the on off state of voltage source inverter is controlled, and stagnant ring value is big more, and the promotion pulsation is just big more.

Summary of the invention

Thrust pulsation problem at above-mentioned linear electric motors Direct Driving System existence, the purpose of this invention is to provide a kind of method that suppresses pulse of linear motor pushing force system, adopt Sliding-Mode Control Based and fuzzy control, the advantage separately of Sliding-Mode Control Based and fuzzy control is combined closely, has close coupling at the linear electric motors control system, non-linear, multivariable and himself distinctive end effect problem, propose to adopt the method for fuzzy sliding formwork Direct Thrust Control with good control performance, the multiple factor that exists in the solution real system reaches the purpose that suppresses the thrust pulsation and obtain good dynamic response performance to the problem that influences of control performance.

Technical scheme of the present invention is achieved in that the present invention suppresses the method for pulse of linear motor pushing force system, Sliding-Mode Control Based and fuzzy control have been adopted, the advantage separately of Sliding-Mode Control Based and fuzzy control is combined the fuzzy sliding formwork Direct Thrust Control of realization closely, effectively suppress pulse of linear motor pushing force system, Fuzzy control system is with fuzzy mathematics, the representation of knowledge of fuzzy language type and the rule-based reasoning of fuzzy logic are theoretical foundation, the controlling object of regulation or the control method of process are summarized as the control law of particular form, act on controlled device by the controlled signal of fuzzy reasoning; Fuzzy control can utilize language message simultaneously, can force into given continuous function arbitrarily simultaneously again, and this control method is applied to this control system to solve the jitter problem of System with Sliding Mode Controller.Sliding-Mode Control Based can be in dynamic process, according to system's state at that time, the perturbation of the interference that adds to system and system is had complete surely self adaptive, and force system to move along the state trajectory of predetermined " sliding mode " autotelicly, make system rapidly converge to controlled target, sliding mode controller includes thrust and two kinds of Control Parameter of magnetic linkage, select thrust deflexion and magnetic linkage deviation as controlled variable, constitute the control that the Integral Sliding Mode face carries out the sliding formwork motion by thrust deflexion and magnetic linkage deviation, make the sliding mode orbiting motion of system according to design, thrust output and magnetic linkage tracing preset value, fuzzy control method wherein, can utilize language message and data message can approach any given continuous function again, solve " shake " problem of System with Sliding Mode Controller.

Suppress the linear motor pushing force pulse controlling system and comprise Sliding-Mode Control Based and fuzzy control, wherein Sliding-Mode Control Based adopts sliding mode controller, and the fuzzy sliding mode tracking control device is adopted in fuzzy control, and its Control Parameter derivation is as follows:

(1) sliding mode controller:

The linear motor stator electric magnetic linkage ${\mathrm{\ψ}}_s=u_{s}t-R_1{\∫}_{t_0}^{t_1}{i}_s\mathrm{dt}+{\mathrm{\ψ}}_{s0}---\left(1\right)$

Linear motor pushing force $\frac{3}{2}\frac{\mathrm{\π}}{\mathrm{\τ}}({\mathrm{\ψ}}_d{i}_q-{\mathrm{\ψ}}_q{i}_d)---\left(2\right)$

Wherein, i _d, i _qBe three-phase winding current d-q axle component; ψ d, ψ q are winding magnetic linkage d-q axle component; τ is the motor pole span; R ₁Be winding resistance; u _sAnd i _sBe the stator winding voltage and current; ψ _S0Be the stator magnetic linkage initial value.

According to the Direct Thrust Force Control System of Linear Motor principle, select thrust deflexion e _FWith magnetic linkage deviation e _ψFunction constitutes the Integral Sliding Mode face; Define two parameters:

u _F＝i _qψ _d-i _dψ _q (3)

$u_{\mathrm{\ψ}}=({\mathrm{\ψ}}_d^2+{\mathrm{\ψ}}_q^2)/2---\left(4\right)$

Thrust and magnetic linkage tracing deviation are respectively:

e _F＝u _Fref-u _F (5)

e _ψ＝u _ψref-u _ψ (6)

Constitute the Integral Sliding Mode face by departure function:

$S_1=e_F+k_1{\∫}_0^t{e}_F\mathrm{dt}-e_F\left(0^{-}\right)---\left(7\right)$

$S_2=e_{\mathrm{\ψ}}+k_2{\∫}_0^t{e}_{\mathrm{\ψ}}\mathrm{dt}-e_{\mathrm{\ψ}}\left(0^{-}\right)---\left(8\right)$

Definition Lyapunov (Li Yapunuo husband) function:

$V=\frac{1}{2}{S}^{T}S---\left(9\right)$

Differentiate respectively in formula (5) and (6):

${\stackrel{\·}{S}}_1={\stackrel{\·}{e}}_F+k_1{e}_F---\left(10\right)$

${\stackrel{\·}{S}}_2={\stackrel{\·}{e}}_{\mathrm{\ψ}}+k_2{e}_{\mathrm{\ψ}}---\left(11\right)$

Have after the arrangement: $\stackrel{\·}{S}=b+\mathrm{Du}---\left(12\right)$

Wherein, b=[b ₁b ₂] ^T

$b_1=k_f(\frac{R_s}{L_s}{i}_q+\frac{\mathrm{\π}}{\mathrm{\τ}}{v}_e{i}_d+{\stackrel{\·}{u}}_{\mathrm{Fref}}+k_1(u_{\mathrm{Fref}}-u_F)$

$b_2=L_s{R}_s{c}_i+k_f{R}_s{i}_d+{\stackrel{\·}{u}}_{\mathrm{\ψref}}+k_2(u_{\mathrm{\ψref}}-u_{\mathrm{\ψ}})$

$c_i=i_d^2+i_q^2$

$D=\left[\begin{array}{cc}0& -\frac{k_f}{L_s}\\ {-\mathrm{\ψ}}_d& {-\mathrm{\ψ}}_q\end{array}\right]$

Select controlled quentity controlled variable: $U=D^{-1}\left[\begin{array}{cc}{\mathrm{\μ}}_1& 0\\ 0& {\mathrm{\μ}}_2\end{array}\right]\left[\begin{array}{c}\mathrm{sign}\left(S_1\right)\\ \mathrm{sign}\left(S_2\right)\end{array}\right]---\left(13\right)$

Formula (9) is differentiated, and with every substitution,

$\stackrel{\·}{V}=S^T(b+\mathrm{Du})=S^T(b-\left[\begin{array}{cc}{\mathrm{\μ}}_1& 0\\ 0& {\mathrm{\μ}}_2\end{array}\right]\left[\begin{array}{c}\mathrm{sign}\left(S_1\right)\\ \mathrm{sign}\left(S_2\right)\end{array}\right])---\left(14\right)$

Boundary layer function wherein

$\mathrm{sign}\left(S_i\right)=\left\{\begin{array}{cc}1& S_i>{\mathrm{\&lambda;}}_i\\ -1& S_i<{-\mathrm{\&lambda;}}_i\\ \frac{S_i}{{\mathrm{\&lambda;}}_i}& \left|S_i\right|\&le;{\mathrm{\&lambda;}}_i\end{array}\right.---\left(15\right)$

In the formula, λ _iThe boundary layer value of (i=1,2) expression linear motor pushing force deviation and magnetic linkage deviation is as parameter μ ₁＞| b ₁|, μ ₂＞| b ₂| the time, $\stackrel{\&CenterDot;}{V}<0$ Set up, satisfy Lyapunov (Li Yapunuo husband) stable condition of Sliding-Mode Control Based, system is stable.

When the boundary layer value of linear motor pushing force deviation and magnetic linkage deviation is outside the boundary layer, adopt Sliding-Mode Control Based, the fuzzy sliding mode tracking control below when the boundary layer value of linear motor pushing force deviation and magnetic linkage deviation is in the boundary layer, adopting

(2) fuzzy sliding mode tracking control device

At first the ambiguity in definition controller is input as the Integral Sliding Mode face that thrust deflexion and magnetic linkage departure function constitute

With their derivative

(i=1,2), they are respectively switching function S _i(k) and its differential ds _i(k) obfuscation variable.Fuzzy controller output Δ U _iBe control variation delta u _iThe obfuscation variable; Select s _i,

Δ U _iBasic domain be [6,6], on this domain, respectively tell 7 fuzzy subsets, promptly have:

$\left\{\begin{array}{c}{s}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\\ {\stackrel{\&CenterDot;}{s}}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\\ {\mathrm{\&Delta;U}}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\end{array}\right.---\left(16\right)$

Its domain is respectively:

$\left\{\begin{array}{c}{s}_i=\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}\\ {\stackrel{\&CenterDot;}{s}}_i=\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}\\ \mathrm{\&Delta;}{U}_i=\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}\end{array}\right.---\left(17\right)$

Wherein, NB=is negative big, and during NM=was negative, NS=was negative little, and ZO=zero, and PS=is just little, the PM=center, and PB=is honest.The design fuzzy rule is:

R _k：if?s?is?A _k?and

is?B _k?then?ΔU?is?C _k (18)

Wherein, k=1,2,3 ... n.A _k, B _k, C _kBe s _i, Δ U _iFuzzy set on the corresponding separately domain; Therefore, draw the fuzzy control rule (as shown in table 1) that satisfies condition; Adopting the calculating gravity model appoach to carry out de-fuzzy, determine the exact value of fuzzy information output, promptly is the method for obtaining the accurate controlled quentity controlled variable of linear electric motors.

The fuzzy sliding mode tracking control softening control signal, with discontinuous control signal serialization, weaken or avoid the jitter phenomenon of general Sliding-Mode Control Based, simultaneously guarantee that also there is good control performance in system; Experiment shows that modified fuzzy sliding mode controlling method is suppressing aspect the linear motor pushing force pulsation obvious effects is arranged.

Table 1 fuzzy sliding mode tracking control rule list

The present invention adopts the sliding mode controller of band integral compensation, outside the boundary layer, adopt Sliding-Mode Control Based, and in the boundary layer, adopt fuzzy sliding mode tracking control to obtain the successive control amount, eliminate because the shake that sign function appears in the control law to be brought, thereby effectively suppressed pulse of linear motor pushing force system.

The fuzzy sliding formwork Direct Thrust Control system flow chart of linear electric motors as shown in Figure 1.

The present invention's advantage: have close coupling, non-linear, multivariable and himself distinctive end effect characteristic at the direct driving control system of linear electric motors, employing has the method for the fuzzy sliding formwork Direct Thrust Control of high robust energy, solved the influence of the multiple factor that exists in the real system effectively, reached the purpose that suppresses the thrust pulsation and obtain good dynamic response performance control performance.

Description of drawings

Fig. 1 is the fuzzy sliding formwork Direct Thrust Control flow chart of linear electric motors of the present invention;

Embodiment

Linear electric motors blur sliding formwork Direct Thrust Control system (its flow chart as shown in Figure 1).

By the Direct Thrust Force Control System of Linear Motor principle, need select suitable voltage vector to realize linear motor pushing force control according to the deviation of thrust and magnetic linkage, the fuzzy sliding formwork Direct Thrust Control process of the present invention comprises the steps:

(1) input linear electric motors parameter: resistance, inductance, given stator magnetic linkage, given speed add initial voltage 300V by voltage source inverter to linear electric motors.

(2) voltage, electric current are carried out the coordinate transform of 3 to 2 phases,

According to formula linear motor stator electric magnetic linkage ${\mathrm{\&psi;}}_s=u_{s}t-R_1{\&Integral;}_{t_0}^{t_1}{i}_s\mathrm{dt}+{\mathrm{\&psi;}}_{s0}$ The estimation magnetic linkage;

According to the formula linear motor pushing force $F=\frac{3}{2}\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}({\mathrm{\&psi;}}_d{i}_q-{\mathrm{\&psi;}}_q{i}_d)$ Estimation thrust;

(3) speed and proportional integral parameter setting and adjusting draw system's actual thrust;

(4) calculate thrust deflexion according to actual value and estimated value:

u _F＝i _qψ _d-i _dψ _q

(5) calculate the magnetic linkage deviation according to actual value and estimated value:

$u_{\mathrm{\&psi;}}=({\mathrm{\&psi;}}_d^2+{\mathrm{\&psi;}}_q^2)/2$

(6) select thrust deflexion and magnetic linkage deviation as controlled variable

e _F＝u _Fref-u _F

e _ψ＝u _ψref-u _ψ

(7) according to thrust deflexion and magnetic linkage Deviation Design Integral Sliding Mode function

${\stackrel{\&CenterDot;}{S}}_2={\stackrel{\&CenterDot;}{e}}_{\mathrm{\&psi;}}+k_2{e}_{\mathrm{\&psi;}}$

$S_2=e_{\mathrm{\&psi;}}+k_2{\&Integral;}_0^t{e}_{\mathrm{\&psi;}}\mathrm{dt}-e_{\mathrm{\&psi;}}\left(0^{-}\right)$

(8) design control component of voltage

(9) derivation boundary layer function

(10) judge:

When the value of linear motor pushing force deviation and magnetic force deviation outside the boundary layer, adopt Sliding-Mode Control Based, output control voltage vector makes system's " sliding mode " orbiting motion according to design;

When the value of linear motor pushing force deviation and magnetic linkage deviation in the boundary layer, adopt fuzzy sliding mode tracking control;

(11) fuzzy controller is input as Integral Sliding Mode face S _i, their derivative S _i, they are respectively switching function S _i(k) and its differential ds _i(k) obfuscation variable; (i=1,2)

(12) select S _i, Δ U _iBasic domain [6,6], respectively tell 7 fuzzy subsets on the domain,

(13) the corresponding value of domain

s _i＝＝{-6，-5，-4，-3，-2，-1，0，+1，+2，+3，+4，+5，+6}

${\stackrel{\&CenterDot;}{s}}_i==\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}$

ΔU _i＝{-6，-5，-4，-3，-2，-1，0，+1，+2，+3，+4，+5，+6}

(14) design S _i, Δ U _iMembership function;

(15) according to formula (18) design fuzzy rule, generate fuzzy control rule table;

(16) adopt $u=\frac{\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{u}_i\mathrm{\&mu;}\left(u_i\right)}{\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{\&mu;}\left(u_i\right)}$ The gravity model appoach ambiguity solution;

(17) output control voltage vector makes system's " sliding mode " orbiting motion according to design, guarantees thrust output and the good tracing preset value of magnetic linkage;

(18) finally obtain the Control Parameter that suppresses pulse of linear motor pushing force system; Apply control voltage by voltage source inverter to linear electric motors;

(19) carry out voltage, current sample, enter next control cycle.

Claims (3)

1, a kind of method that suppresses pulse of linear motor pushing force system, it is characterized in that this method has adopted Sliding-Mode Control Based and fuzzy control, the advantage separately of Sliding-Mode Control Based and fuzzy control is combined the fuzzy sliding formwork Direct Thrust Control of realization linear electric motors closely, effectively suppress pulse of linear motor pushing force system, linear motor pushing force system control comprises Sliding-Mode Control Based and fuzzy control, wherein Sliding-Mode Control Based adopts sliding mode controller, and the fuzzy sliding mode tracking control device is adopted in fuzzy control; For Sliding-Mode Control Based and fuzzy control, adopt the sliding mode controller of band integral compensation, outside the boundary layer, adopt Sliding-Mode Control Based, and in the boundary layer, adopt fuzzy sliding mode tracking control to obtain the successive control amount, thereby eliminated the linear motor pushing force pulsation, its fuzzy sliding formwork Direct Thrust Control process comprises the steps:

(1) input linear electric motors parameter: resistance, inductance, given stator magnetic linkage, given speed add initial voltage 300V by voltage source inverter to linear electric motors;

(2) voltage, electric current are carried out the coordinate transform of 3 to 2 phases,

According to formula linear motor stator electric magnetic linkage

The estimation magnetic linkage;

According to the formula linear motor pushing force $F=\frac{3}{2}\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}({\mathrm{\&psi;}}_d{i}_q-{\mathrm{\&psi;}}_q{i}_d)$ Estimation thrust;

(3) speed and proportional integral parameter setting and adjusting draw system's actual thrust;

(4) calculate thrust deflexion according to actual value and estimated value:

u _F＝i _qψ _d-i _dψ _q

(5) calculate the magnetic linkage deviation according to actual value and estimated value:

$u_{\mathrm{\&psi;}}=({\mathrm{\&psi;}}_d^2+{\mathrm{\&psi;}}_q^2)/2$

(6) select thrust deflexion and magnetic linkage deviation as controlled variable

e _F＝u _Fref-u _F

e _ψ＝u _ψref-u _ψ

(7) according to thrust deflexion and magnetic linkage Deviation Design Integral Sliding Mode function

${\stackrel{\&CenterDot;}{S}}_2={\stackrel{\&CenterDot;}{e}}_{\mathrm{\&psi;}}+k_2{e}_{\mathrm{\&psi;}}$

(8) design control component of voltage

(9) derivation boundary layer function

(10) judge:

When the value of linear motor pushing force deviation and magnetic linkage deviation outside the boundary layer, adopt Sliding-Mode Control Based, output control voltage vector makes system's " sliding mode " orbiting motion according to design;

When the value of linear motor pushing force deviation and magnetic linkage deviation in the boundary layer, adopt fuzzy sliding mode tracking control;

(11) fuzzy controller is input as Integral Sliding Mode face S _iAnd their derivative S _i, they are respectively switching function S _i(k) and its differential ds _i(k) obfuscation variable; (i=1,2);

(12) select S _i, Δ U _iBasic domain [6,6], respectively tell 7 fuzzy subsets on the domain,

(13) the corresponding value of domain

s _i＝＝{-6，-5，-4，-3，-2，-1，0，+1，+2，+3，+4，+5，+6}

${\stackrel{\&CenterDot;}{s}}_i==\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}$

ΔU _i＝{-6，-5，-4，-3，-2，-1，0，+1，+2，+3，+4，+5，+6}

(14) design S _i, Δ U _iMembership function;

(15) according to formula

R _k: if s is A _kAnd Is B _kThen Δ U is C _kThe design fuzzy rule generates fuzzy control rule table; K=1,2,3 ... n.A _k, B _k, C _kBe s _i, Δ U _iFuzzy set on the corresponding separately domain;

(16) adopt $u=\frac{\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{u}_i\mathrm{\&mu;}\left(u_i\right)}{\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{\&mu;}\left(u_i\right)}$ The gravity model appoach ambiguity solution;

(17) output control voltage vector makes system's " sliding mode " orbiting motion according to design, guarantees thrust output and the good tracing preset value of magnetic linkage;

(18) finally obtain the Control Parameter that suppresses pulse of linear motor pushing force system, apply control voltage to linear electric motors by voltage source inverter;

(19) carry out voltage, current sample, enter next control cycle.

2,, it is characterized in that described Sliding-Mode Control Based adopts sliding mode controller by the method for the described inhibition pulse of linear motor pushing force system of claim 1:

The linear motor stator electric magnetic linkage

Linear motor pushing force $F=\frac{3}{2}\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}({\mathrm{\&psi;}}_d{i}_q-{\mathrm{\&psi;}}_q{i}_d)---\left(2\right)$

Wherein, i _d, i _qBe three-phase winding current d-q axle component; ψ d, ψ q are winding magnetic linkage d-q axle component; τ is the motor pole span; R ₁Be winding resistance; u _sAnd i _sBe the stator winding voltage and current; ψ _S0Be the stator magnetic linkage initial value;

According to the Direct Thrust Force Control System of Linear Motor principle, select thrust deflexion e _FWith magnetic linkage deviation e _ψFunction constitutes the Integral Sliding Mode face, defines two parameters:

u _F＝i _qψ _d-i _dψ _q (3)

$u_{\mathrm{\&psi;}}=({\mathrm{\&psi;}}_d^2+{\mathrm{\&psi;}}_q^2)/2---\left(4\right)$

Thrust and magnetic linkage tracing deviation are respectively:

e _F＝u _Fref-u _F (5)

e _ψ＝u _ψref-u _ψ (6)

Constitute the Integral Sliding Mode face by departure function:

Definition Lyapunov (Li Yapunuo husband) function:

$V=\frac{1}{2}{S}^{T}S---\left(9\right)$

Differentiate respectively in formula (5) and (6):

$S_1=\stackrel{\&CenterDot;}{e_F}+k_1{e}_F---\left(10\right)$

${\stackrel{\&CenterDot;}{S}}_2={\stackrel{\&CenterDot;}{e}}_{\mathrm{\&psi;}}+k_2{e}_{\mathrm{\&psi;}}---\left(11\right)$

Have after the arrangement: $\stackrel{\&CenterDot;}{S}=b+\mathrm{Du}---\left(12\right)$

Wherein, b=[b ₁b ₂] ^T

$b_1=k_f(\frac{R_s}{L_s}{i}_q+\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}{v}_e{i}_d+{\stackrel{\&CenterDot;}{u}}_{\mathrm{Fref}}+k_1(u_{\mathrm{Fref}}-u_F)$

b ₂＝L _sR _sc _i+k _fR _si _d+u _ψref+k ₂(u _ψref-u _ψ)

$c_i=i_d^2+i_q^2$

$D=\left[\begin{array}{cc}0& -\frac{k_f}{L_s}\\ -{\mathrm{\&psi;}}_d& -{\mathrm{\&psi;}}_q\end{array}\right]$

Select controlled quentity controlled variable: $U={-D}^{-1}\left[\begin{array}{cc}{\mathrm{\&mu;}}_1& 0\\ 0& {\mathrm{\&mu;}}_2\end{array}\right]\left[\begin{array}{c}\mathrm{sign}\left(S_1\right)\\ \mathrm{sign}\left(S_2\right)\end{array}\right]---\left(13\right)$

Formula (9) is differentiated, and with every substitution,

$\stackrel{\&CenterDot;}{V}=S^T(b+\mathrm{Du})=S^T(b-\left[\begin{array}{cc}{\mathrm{\&mu;}}_1& 0\\ 0& {\mathrm{\&mu;}}_2\end{array}\right]\left[\begin{array}{c}\mathrm{sign}\left(S_1\right)\\ \mathrm{sign}\left(S_2\right)\end{array}\right])---\left(14\right)$

Boundary layer function wherein

$\mathrm{sign}\left(S_i\right)=\left\{\begin{array}{cc}1& S_i>{\mathrm{\&lambda;}}_i\\ -1& S_i<-{\mathrm{\&lambda;}}_i\\ \frac{S_i}{{\mathrm{\&lambda;}}_i}& \left|S_i\right|\&le;{\mathrm{\&lambda;}}_i\end{array}\right.---\left(15\right)$

In the formula, λ _iThe boundary layer value of (i=1,2) expression linear motor pushing force deviation and magnetic linkage deviation is as parameter μ ₁＞| b ₁|, μ ₂＞| b ₂| the time, $\stackrel{\&CenterDot;}{V}<0$ Set up, satisfy Lyapunov (Li Yapunuo husband) stable condition of Sliding-Mode Control Based, just adopt sliding-mode control, system is stable.

3,, it is characterized in that described fuzzy control employing fuzzy sliding mode tracking control device: the Integral Sliding Mode face s that is input as thrust deflexion and magnetic linkage departure function formation of ambiguity in definition controller by the method for the described inhibition pulse of linear motor pushing force system of claim 1 _iWith their derivative ${\stackrel{\&CenterDot;}{S}}_i(i=\mathrm{1,2}),$ They are respectively switching function S _i(k) and its differential ds _i(k) obfuscation variable, fuzzy controller output Δ U _iBe control variation delta u _iThe obfuscation variable; Select s _i,

Δ U _iBasic domain be [6,6], on this domain, respectively tell 7 fuzzy subsets, promptly have:

$\left\{\begin{array}{c}{s}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\\ {\stackrel{\&CenterDot;}{s}}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\\ {\mathrm{\&Delta;U}}_i=\{\mathrm{NB},\mathrm{NM},\mathrm{NS},\mathrm{ZO},\mathrm{PS},\mathrm{PM},\mathrm{PB}\}\end{array}\right.---\left(16\right)$

Its domain is respectively:

$\left\{\begin{array}{c}{s}_i=\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}\\ {\stackrel{\&CenterDot;}{s}}_i=\{-6,-5,-4,-3,-2,-\mathrm{1,0},+1,+2,+3,+4,+5,+6\}\\ {\mathrm{\&Delta;U}}_i=\{-6,-5,-4,-3,-2,-1,0,+1,+2,+3,+4,+5,+6\}\end{array}\right.---\left(17\right)$

Wherein, NB=is negative big, and during NM=was negative, NS=was negative little, and ZO=zero, and PS=is just little, the PM=center, and PB=is honest, and the design fuzzy rule is:

R _k：if?s?is?A _k?and

is?B _k?then?ΔU?is?C _k (18)

Wherein, k=1,2,3 ... n.A _k, B _k, C _kBe s _i,

Δ U _iFuzzy set on the corresponding separately domain; Therefore, drawing the fuzzy control rule that satisfies condition, adopt the calculating gravity model appoach to carry out de-fuzzy, determine the exact value of fuzzy information output, promptly is the method for obtaining the accurate controlled quentity controlled variable of linear electric motors.

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