CN105929693A - Adaptive sliding-mode compensation synchronous control system of H type precision motion platform and method - Google Patents

Abstract

The invention provides an RBF network adaptive sliding-mode compensation device. The objective of the invention is to solve synchronous control problems of an H type precision motion platform. According to the device, the synchronization error of linear motors at two sides is adopted as input; by means of the strong self-learning ability of an RBF network, the position error of the parallel motors at the two sides of the H type precision motion platform is made to be close to zero; and therefore, the synchronization error of the system can be decreased, and synchronous control can be achieved. The hardware of the control system includes a main circuit, a control circuit and a control object; and the control circuit comprises a DSP, a current sampling circuit, a rotor position sampling circuit, an IPM isolation driving circuit and an IPM protection circuit.

Description

H type precision movement platform adaptive sliding mode compensates synchronous control system and method

Technical field: the invention belongs to fields of numeric control technique, particularly to a kind of RBF network self-adapting sliding formwork The synchronisation control means of the H type precision movement platform of compensating controller.

Background technology: linear servo system forms as the core of ultraprecise motion platform, its good dynamic, Static properties directly affects the parameters such as the speed of platform, acceleration, positioning precision, but traditional precision is transported Moving platform is used mostly electric rotating machine and drives screw pair, is the straight line of motion platform by convert rotational motion Motion.This type of drive exists that complicated, the additional inertia of transmission chain length, system structure is big, system stiffness The shortcomings such as low, frictional influence is big.The requirement processed at high speed and in high precision can not be met, cause movement velocity It is severely limited with precision.The factor of motion platform precision is had a strong impact in order to solve the above, we Use linear motor direct drive mode to replace tradition electric rotating machine and the type of drive of ball-screw, eliminate Driving-chain, to the transmission link of motion platform, is shortened to zero by motor；Additionally, novel H type precision fortune Moving platform uses air-bearing to guide and supporting, substantially eliminates the impact of friction, also provides for system bigger Rigidity, be more easy to realize at high speed and the motion of high acceleration, submicron or even nano level fixed can be reached Position precision.

H type precision movement platform control system uses the parallel system that dual linear motor drives jointly, meets height Acceleration, high thrust and the requirement of high rigidity, be the bilinearity servosystem with mechanical couplings.Although it is this Structure can avoid single shaft to drive the motion delay brought and mechanical oscillation, although but both sides use same straight Line motor and identical control method, also due to the coupling between two loops and many uncertain causes Making two motors can not reach the most absolute synchronization, this will cause the torsion of crossbeam, determine workbench The biggest error is caused in position, and stuck even damage of motion platform can be caused time serious to drive element.Thereby, it is ensured that Being synchronized with the movement of dual linear motor is the most important.

Summary of the invention:

Goal of the invention: the invention provides a kind of H type precision movement platform adaptive sliding mode and compensate Synchronization Control System and method for, its object is to solve present in prior art two motors can not Complete Synchronization, cause horizontal stroke The torsion of beam, causes the problems such as the biggest error to the location of workbench.

Technical scheme:

A kind of H type precision movement platform adaptive sliding mode compensates synchronous control system, this system include main circuit, Control circuit and control object three part；

Described control circuit include dsp processor, current sampling circuit, rotor position sample circuit, IPM every From drive circuit and IPM protection circuit；

Described main circuit includes regulating circuit, rectification filtering unit and IPM inversion unit；

Described control object is three-phase permanent linear synchronous generator H type precision movement platform, and fuselage is equipped with grating Chi；

Described current sampling circuit, rotor position sample circuit, IPM isolated drive circuit and IPM protection electricity Road is connected with dsp processor respectively, and described dsp processor is connected to described main electricity by voltage-regulating circuit Regulating circuit in road；

Regulating circuit in described main circuit is connected to IPM inversion unit by rectification filtering unit；Described IPM Inversion unit is connected with three-phase permanent linear synchronous generator；

Described IPM isolated drive circuit and IPM protection circuit are connected with IPM inversion unit respectively；Described electricity Stream sample circuit connects described three-phase permanent linear synchronous generator H type precision movement platform by Hall element； Described rotor position sample circuit connects grating scale.

Described H type precision movement platform adaptive sliding mode compensates the control method of synchronous control system, the party Method uses RBF network self-adapting sliding formwork compensating controller, sliding formwork is controlled combine neutral net and approaches and be applied to In the control of nonlinear system, the method comprises the steps:

Step 1 system initialization；

Step 2 allows TN1, TN2 to interrupt；

Step 3 starts T1 underflow and interrupts；

Step 4 routine data initializes；

Step 5 opens total interruption；

Step 6 interrupt latency；

Step 7TN1 interrupt processing controls program；

Step 8 terminates.

Described H type precision movement platform adaptive sliding mode compensates synchronisation control means, and described TN1 interrupts Process sub-control program to comprise the steps:

Step 1TN1 interrupts sub-control program；

Step 2 keeps the scene intact；

Step 3 judges whether initial alignment；It is to enter step 4, otherwise enters step 10；

Step 4 current sample, CLARK converts, and PARK converts；

Step 5 judges whether to need position adjustments；Otherwise enter step 7；

Step 6 position adjustments interrupt processing controls program；

Step 7dq shaft current regulates；

The inverse transformation of step 8PARK；

Step 9 calculates CMPPx and PWM output；

Step 10 position sampling；

Step 11 initial alignment program；

Step 12 restoring scene；

Step 13 interrupts returning.

Described H type precision movement platform adaptive sliding mode compensates synchronisation control means, described step 6 Put regulation interrupt processing control program to comprise the following steps:

Step 1 position adjustments interrupts sub-control program；

Step 2 reads encoder values；

Step 3 judges angle；

Step 4 calculates walks distance；

Step 5 performs positioner；

Step 6 performs adaptive controller；

Step 7 calculating current order also exports；

Step 8 interrupts returning.

Advantage and effect: the present invention uses the RBF network self-adapting sliding formwork that can approach nonlinear system to control Device as compensating controller, compensate due to two motor control characteristics do not mate with surrounding uncertain Property and the synchronous error that produces such that it is able to ensure H type precision movement platform in motor process bilateral with Step error levels off to zero.

Accompanying drawing illustrates:

Fig. 1 is H type precision movement platform structural representation；

Fig. 2 is H type precision movement platform RBF network self-adapting sliding formwork compensating controller system block diagram；

Fig. 3 is that in the inventive method, master control system program flow diagram and TN1 interrupt processing control program flow Cheng Tu；

Fig. 4 is that the inventive method position adjustments interrupt processing controls program flow diagram；

Fig. 5 is to realize the vector control system for permanent magnet linear synchronous motor hardware configuration hardware designed by the present invention Block diagram；

Fig. 6-9 is the hardware system schematic diagram realizing the present invention,

Wherein:

Fig. 6 is current detection circuit,

Fig. 7 is position detecting circuit,

Fig. 8 is power circuit,

Fig. 9 is drive circuit.

Detailed description of the invention:

The present invention is described further below in conjunction with the accompanying drawings:

As it is shown in figure 1, the present invention provides structure and the modeling method thereof of a kind of H type precision movement platform.

Using the control method of field orientation, simplifying electromagnetic force is:

$F_{ei}=K_{fi}{i}_{qi}^{*}---\left(1\right)$

K_fi=3 π n_piλ_PMi/(2τ_i) (2)

Wherein K_fiIt is thrust coefficient,It it is reasoning current order；λ_PMiPermanent magnet flux linkage, n_piIt it is primary magnetic pole Logarithm, τ_i=32mm, is pole span.I=y₁And y₂Represent the y of dual linear motor servosystem₁And y₂Axle.

The kinetics equation of the permanent-magnetism linear motor that electricity consumption magnetic force is expressed is:

$F_{ei}=M_i{\stackrel{\·}{v}}_i+D_i{v}_i+F_{Li}+f_i\left(v\right)---\left(3\right)$

Wherein v_iIt is the linear velocity of motor, M_iIt is electric mover quality, D_iIt is viscous friction and iron loss factor, F_LiIt is external disturbance, f_iV () is frictional force.Curve fitting technique based on motor position step response is used to seek Look for the accurate mathematical model of motor driven systems.

The synchronous control system of the RBF network self-adapting sliding formwork compensator of H type precision movement platform uses will be sliding Mould controls to combine neutral net and approaches in the control of nonlinear system, uses neural fusion model not Know that the self adaptation of part is approached, Fuzzy Gain can be effectively reduced.Neutral net adaptive law passes through Lyapunov Method derives, by the stability and convergence of the whole closed loop system of the regulating guarantee of adaptive weighting.Protecting On the basis of card single axial movement precision, the compensation signal exported by controller reduces synchronous error makes it become In zero.

The structure chart of the H type precision movement platform synchronisation control means that Fig. 2 provides for the present invention, in tradition also Introducing synchronous error compensator on the basis of connection Synchronization Control, compensator uses RBF network self-adapting sliding formwork Control method, RBF network self-adapting sliding formwork is as synchronous error compensating controller, and it is straight that its input is respectively two Displacement synchronous error ξ of line motor₁And ξ₂, U is as correction, the speed reference to two motor shafts in output Instruction is modified.

Ignoring uncertain and magnetic field guiding, formula (1) and (3) are rewritten down:

${\stackrel{\·\·}{d}}_i\left(t\right)=-\frac{\stackrel{\‾}{D_i}}{{\stackrel{\‾}{M}}_i}{\stackrel{\·}{d}}_i\left(t\right)+\frac{K_{fi}}{\stackrel{\‾}{M_i}}{i}_{qi}^{*}\left(t\right)=A_{ni}{\stackrel{\·}{d}}_i\left(t\right)+B_{ni}{u}_i---\left(4\right)$

Wherein d_iT () is the position of motor,u_iFor controlling effect, reasoning electric current Order.Consider the existence of the indeterminate of Parameters variation and system, the dynamic model of H type precision movement platform Can be rewritten as follows:

$\begin{array}{c}{\stackrel{\·\·}{d}}_i\left(t\right)=(A_{ni}+{\mathrm{\ΔA}}_i){\stackrel{\·}{d}}_i\left(t\right)+(B_{ni}+{\mathrm{\ΔB}}_i)u_i+(C_{ni}+{\mathrm{\ΔC}}_i)\[F_{Li}+f_i\left(v\right)\]\\ =A_{ni}{\stackrel{\·}{d}}_i\left(t\right)+B_{ni}{u}_i+H_i\end{array}---\left(5\right)$

WhereinΔB_iWith Δ C_iRepresent A respectively_ni, B_niAnd C_niIndeterminate, this uncertain be by Systematic parameter M_iAnd D_iCause.H is defined as concentrating indeterminate, is defined as follows:

$H_i={\mathrm{\ΔA}}_i{\stackrel{\·}{d}}_i\left(t\right)+{\mathrm{\ΔB}}_i{u}_i+(C_{ni}+{\mathrm{\ΔC}}_{ni})\[F_{Li}+f_i\left(v\right)\]---\left(6\right)$

Assume to concentrate indeterminate for there being dividing value

||H_i||≤δ_i (7)

Wherein δ_iIt it is a normal number.

In H type precision movement platform system, consider that the position of single shaft position tracking error and two between centers synchronizes simultaneously Error.First definition position tracking error is

e_i=y_d-y_i (8)

In formula, y_dGiven for position input, i=1,2.Synchronous error is defined as

ξ₁=e₁-e₂,ξ₂=e₂-e₁ (9)

In formula, ξ₁And ξ₂Represent H type precision movement platform Y respectively₁And Y₂The synchronous error of axle.If formula (9) Middle synchronous error is zero, then H type precision movement platform is synchronous operation.Change formula (9) into matrix form, I.e.

Ψ=TE (10)

Ψ=[ξ in formula₁ ξ₂]^T, E=[e₁ e₂]^T,

Converge to zero in order to ensure tracking error and synchronous error simultaneously, two errors combined, is defined as combined error, It is expressed as

$E_h=\left[\begin{array}{c}{e}_1\\ e_2\end{array}\right]+\mathrm{\β}\left[\begin{array}{c}{e}_1-e_2\\ e_2-e_1\end{array}\right]=E+\mathrm{\β}\mathrm{\Ψ}---\left(11\right)$

In formula, E_h=[e_h1 e_h2]^T, e_h1And e_h2Represent the combined error of H type precision movement platform respectively；β is two The coefficient of coup of motor.Bring formula (10) into formula (11) can obtain

E_h=(I+ β T) E (12)

In formula, I is unit matrix；(I+ β T) is positive definite matrix.In formula (27), and if only if E=0, just there is E_h=0, Also imply that Ψ=0.Therefore control target and design a controller exactly, make tracking error and synchronous error Converge to zero simultaneously.

In order to meet control requirement, definition sliding formwork function is

$s_i={\mathrm{ce}}_{hi}+{\stackrel{\·}{e}}_{hi},c>0---\left(13\right)$

Then

$\begin{array}{c}{\stackrel{\·}{s}}_i=c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{e}}_{hi}=c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{e}}_i+\mathrm{\β}{\stackrel{\·\·}{\mathrm{\ξ}}}_i\\ =c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{y}}_d-A_{ni}{\stackrel{\·}{y}}_i-B_{ni}{u}_i-H_i+\mathrm{\β}{\stackrel{\·\·}{\mathrm{\ξ}}}_i\\ =c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{y}}_d-f\left(y\right)-B_{ni}{u}_i-H_i+\mathrm{\β}{\stackrel{\·\·}{\mathrm{\ξ}}}_i\end{array}---\left(14\right)$

From formula (14), if s → 0, then e_hi→ 0 and

Owing to RBF network has universal approximation property, using RBF neural to approach f (y), network algorithm is

$h_j=\exp \left(\frac{\left|\right|x-c_j|{|}^2}{2b_j^2}\right)---\left(15\right)$

F=W^*Th(x)+ε (16)

Wherein, x is the input of network；J is network hidden layer jth node；H=[h_j]^TGaussian basis for network Function exports, W^*Preferable weights for network；ε is the approximate error of network, ε≤ε_N。

The input of network takes x=[ξ₁ ξ₂]^T, network is output as

$\hat{f}\left(x\right)={\hat{W}}^{T}h\left(x\right)---\left(17\right)$

Due to

$f\left(x\right)-\hat{f}\left(x\right)=W^{*T}h\left(x\right)+\mathrm{\ϵ}-{\hat{W}}^{T}h\left(x\right)=-{\tilde{W}}^{T}h\left(x\right)+\mathrm{\ϵ}$

Definition Lyapunov function is

$V=\frac{1}{2}{s}^2+\frac{1}{2\mathrm{\γ}}{\tilde{W}}^T\tilde{W}---\left(18\right)$

Wherein, γ > 0,

Then

$\stackrel{\·}{V}=s\stackrel{\·}{s}+\frac{1}{\mathrm{\γ}}\tilde{W}\stackrel{\·}{\hat{W}}=s(c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{y}}_d-f(y)-B_{ni}{u}_i-H_i+{\mathrm{\β\ξ}}_i)---\left(19\right)$

Design control law is

$u_i=B_{ni}^{-1}(c{\stackrel{\·}{e}}_{hi}+{\stackrel{\·\·}{y}}_d-f(y)-H_i+{\mathrm{\β\ξ}}_i)-\mathrm{\η}\mathrm{sgn}\left(s\right)---\left(20\right)$

$\begin{array}{c}\stackrel{\·}{V}=s\left(f\right(y)-\hat{f}(y)-\mathrm{\η}\mathrm{sgn}(s\left)\right)+\frac{1}{\mathrm{\γ}}{\tilde{W}}^T\stackrel{\·}{\hat{W}}\\ =s(-{\tilde{W}}^{T}h(x)+\mathrm{\ϵ}-\mathrm{\η}\mathrm{sgn}(s\left)\right)+\frac{1}{\mathrm{\γ}}{\tilde{W}}^T\stackrel{\·}{\hat{W}}\\ =\mathrm{\ϵ}s-\mathrm{\η}\left|s\right|+{\tilde{W}}^T(\frac{1}{\mathrm{\γ}}\stackrel{\·}{\hat{W}}-sh(x\left)\right)\end{array}---\left(21\right)$

Take η > | ε |_max, adaptive law is

$\stackrel{\·}{\hat{W}}=\mathrm{\γ}sh\left(x\right)---\left(22\right)$

Then

WhenTime, s ≡ 0, according to LaSalle invariant set principle, closed loop system asymptotically stability, during t → ∞, s→0.Due to V >=0,Then as t → ∞, V bounded, thenBounded, but cannot ensureConvergence In W.The effect of robust item η sgn (s) in visible control law is the approximate error overcoming neutral net, to protect Card system stability.

Fig. 3 is the control system flow chart in the inventive method, as it can be seen, the inventive method is finally by embedding Entering the control program in DPS processor to realize, wherein system initialization routine includes closing all interruptions, DPS System initialization, initialization of variable, task manager initialize, AD initializes and quadrature coding pulse QEP Initialize.Interrupt service subroutine includes protecting interruption subroutine and T1 underflow interrupt service subroutine.Mover Initialize location, PID regulation, vector etc. all to hold in intervalometer T1 underflow Interrupt Subroutine OK.

Wherein T1 Interrupt Subroutine sequentially includes the following steps:

Step 1TN1 interrupts sub-control program；

Step 2 keeps the scene intact；

Step 3 judges whether initial alignment；It is to enter step 4, otherwise enters step 10；

Step 4 current sample, CLARK converts, and PARK converts；

Step 5 judges whether to need position adjustments；Otherwise enter step 7；

Step 6 position adjustments interrupt processing controls program；

Step 7dq shaft current regulates；

The inverse transformation of step 8PARK；

Step 9 calculates CMPPx and PWM output；

Step 10 position sampling；

Step 11 initial alignment program；

Step 12 restoring scene；

Step 13 interrupts returning.

Fig. 4 is that position adjustments interrupt processing in the inventive method controls program flow diagram, as it can be seen,

Follow the steps below

Step 1 position adjustments interrupts sub-control program；

Step 2 reads encoder values；

Step 3 judges angle；

Step 4 calculates walks distance；

Step 5 performs positioner；

Step 6 performs adaptive controller；

Step 7 calculating current order also exports；

Step 8 interrupts returning

Fig. 5 is to realize the vector control system for permanent magnet linear synchronous motor hardware configuration hardware designed by the present invention Figure, including main circuit, control circuit and control object three part；Control circuit includes dsp processor, electricity Stream sample circuit, rotor position sample circuit, IPM isolated drive circuit and IPM protection circuit；Main circuit Including regulating circuit, rectification filtering unit and IPM inversion unit；Control object is three-phase permanent Linear Synchronous Motor H type platform, fuselage is equipped with grating scale；Current sampling circuit, rotor position sample circuit, IPM every All being connected with dsp processor from drive circuit and IPM protection circuit, dsp processor is adjusted also by voltage Whole circuit is connected to regulating circuit, and regulating circuit is connected to IPM inversion unit, IPM by rectification filtering unit Inversion unit connects three-phase permanent linear synchronous generator；IPM isolated drive circuit and IPM protection circuit with IPM inversion unit connects, and current sampling circuit connects three-phase permanent linear synchronous generator by Hall element H type platform, rotor position sample circuit connects grating scale.

The hardware elementary diagram of the Fig. 6-9 control system by being invented, substantially can be divided into 3 parts i.e., first piece Circuit board is power circuit board, including AC-DC module, the over-and under-voltage protection of main circuit, IPM module And drive circuit, auxiliary power circuit.Second piece of circuit board is control circuit plate, including DSP (TMS320F28335), current sample, encoder interface circuit, RS232 communication, overcurrent protection etc. Circuit.This block circuit board is the core of whole servo controller.3rd piece of circuit board completes display and control System input function, including digital pipe display circuit and input through keyboard.Its major function is that display motor runs The state in moment, partial fault reason and complete the input of various control signal.

From fig. 6, it can be seen that native system is a speed and the closed loop system of current feedback.Dsp controller The rotating speed be responsible for conversion A/D conversion, calculating motor and the PI regulation of position and electric current and speed, finally Obtain the control signal of Voltage space vector PWM, then after optical coupling isolation circuit, drive IPM power Switching device.DSP, CPLD controller be responsible for whole system protection and monitoring, once system occurred The faults such as pressure, overcurrent, under-voltage, DSP will block PWM output signal, to protect IPM module.

The current detection circuit of the Fig. 6 hardware system by being invented, according to the design of whole system, control Having current feedback ring in system processed, it is therefore desirable to the current signal of sample motor, measure in the design is Biphase in linear electric motors three-phase current.Native system uses CsM025PTS series Hall current sensor, The current range that it can gather is-16A～+l6A, and the voltage range of output is 0～5V.Because DSP core The A/D module sampling of sheet is voltage signal, needs current signal is converted into voltage signal.With DSP's A/D module input voltage range is 0～3V, and sample the voltage range of Hall element be 0～ 5V, needs to do suitable conversion, and the voltage signal of sampling is converted into suitable input range.16 passages A/D module needs to use three therein, and that select in the design is ADCIN08 and ADCIN09 two Passage, the voltage signal after sampling is re-converted into biphase current signal and is stored in corresponding depositor, enters Row electric current regulates.Through Hall element detect current in proportion be converted into voltage signal.Hall passes The voltage signal of sensor output is not suitable for the voltage range that A/D module gathers, and needs through amplifier voltage Signal zooms in and out.

The position detecting circuit of the Fig. 7 hardware system by being invented, the inspection of the position signalling of linear electric motors Survey is to realize the very important factor of linear electric motors precision control and is exactly rate signal by its differential, originally sets Meter uses the RGH24X series grating scale of RENIsHAW company of Britain, and its resolution is 1um, Can reach 5m/s at high speed.Quadrature coding pulse circuit TMs320F28335 task manager EVA (QEP) it is attached with grating scale, after the QEP of task manager is enabled, just can be to corresponding pin Output pulse counts, and determines the positional information of motor movement, corresponding according to the positional information measured Adjust control strategy, control motor movement.Mounted grating scale, in the case of linear electric motors move, is read Several output 6 road square-wave signals relevant with positional information, wherein they are three to reverse RS422A side Ripple signal, after differential received, produce three road pulse signals include two-way quadrature coding pulse signal A and B, and a LUSHEN examination point signal Z.Quadrature coding pulse signal A and B is used for detection of straight lines motor movement Positional information, and Z signal be used for do the reference signal of clear point position in linear motion.Due to light 3 road pulse signals of grid ruler reading head output are 5V, and the I/O mouth voltage of DSP is 3.3V, It is thus desirable to level conversion core SN74LVC4245DW realizes the level conversion of 5V to 3.3V. Enable quadrature coding pulse circuit and the capturing unit CAP3 of dsp chip task manager EVA simultaneously, QEP1 and QEP2 receives A and B two-way orthogonal pulses respectively, and CAP3 captures reference burst signal Z.

The quadrature coding pulse of grating ruler reading head output is that two-way frequency can change mutually orthogonal pulse sequence Row.When linear electric motors move, the read head of grating scale can produce quadrature coding pulse signal, respectively by QEP1 With QEP2 interface, it is+90 ° or-90 ° according to the phase contrast of A and B pulse signal and determines straight The direction of motion of line motor, may determine that the counting direction of the enumerator of general purpose timer simultaneously, if QEP1 The pulse that the pulse advance QEP2 received receives, then enumerator is incremented by counting, the most then countdown. Owing to input orthogonal pulses rising edge and trailing edge are all counted by the orthogonal coding circuit of DSP, therefore warp The frequency exporting pulse after QEP circuit becomes four times of input, and this clock can be carried by task manager Supply its general purpose timer clock frequency as general purpose timer.In the design, general purpose timer TZ sets It is set to orient add drop counting, clock frequency when the quadrature coding pulse circuit of task manager EVA both provides for it Rate provides again counting direction.The resolution of grating scale is 1um, and linear electric motors often move the most general timing of lum The pulse that quadruple is later is once counted by device, can by different count value in twice enumerator of front and back To determine the distance that linear electric motors move, there is the counting direction of special depositor memory counter, also simultaneously It is the direction of motion of linear electric motors.The motion of linear electric motors can be obtained in the interrupt service subroutine of DSP Information.

The power circuit of the Fig. 8 hardware system by being invented, the power circuit designed by the present invention is exactly DC voltage to be obtained.First pass through a rectifier bridge and exchange is converted into direct current, then obtained by filtering Preferably unidirectional current is stored in bulky capacitor, and as the delivery outlet of DC source, electric capacity two ends are being supplied to merit Rate module.Piece electric fuse of addition therein, in order to prevent circuital current excessive, plays protection circuit effect. What relay played is the effect of a Based Intelligent Control, and in a program when DSP initializes, electric capacity charges, After initialization completes, sending a high level in a program Kl port, there is a switch motion in relay Make electric capacity two ends be directly connected to supply voltage, at this time make the voltage at electric capacity two ends reach maximum, during experiment 320V can be arrived greatly, be reached for motor power reguirements.

The drive circuit of the Fig. 9 hardware system by being invented, linear electric motors drive circuit mainly includes one Individual SPM, that the present invention selects is IRAMSl0UP60B, and it is applicable to the motor of relatively high power In, the power of motor scope that it can drive is 400W～750W；Three be mainly made up of 6 IGBT Phase bridge circuit, the pwm control signal that on panel, dsp chip produces is input to power model, controls The shutoff of 3 brachium pontis, produces appropriate drive voltage, drives HIN1 and LIN1 in linear electric motors motion diagram Being the control signal of the upper and lower bridge arm of the first phase respectively, they are all Low level effectives.IRAMSl0UP60B's Running voltage VDD is 15V, and VSS is earth terminal, in order to reach good decoupling effect, at these two ends Add two decoupling capacitors in parallel.Owing to the PWM ripple signal of input is digital signal, and IRAMS10UP60B does not possess the function that digital signal and power signal are isolated, and therefore exists Needing plus light-coupled isolation before the input control signal of IRAMS10UP60B, in figure, TLPll3 i.e. achieves The pwm signal of input is converted into the function of analogue signal, is then input to the control signal of corresponding brachium pontis Input.At the outfan U of three-phase voltage, V, W are respectively plus the bootstrap capacitor of a 2.2uF.? When Itrip port is low level, chip normally works, and the control signal inputted when the upper part of brachium pontis is low electricity Flat, the when that lower part being high level, this phase has output voltage；For high level on when, lower for time low level Waiting output voltage is zero；Both it is impermissible for appearance for low level situation, short circuit can be caused like that, Burn chip.When Itrip port is high level, chip does not works, and does not has voltage to export, therefore at circuit In add a pull down resistor and make Itrip port be low level, such power model can normally work.Power chip Self there is gentle overcurrent protection, the effect of self-protection can be played when circuit occurs abnormal.

The H type precision movement platform driven for bilateral linear motor, it is proposed that a RBF network self-adapting Sliding formwork compensating controller, solves problem present in conventional motor control, it is an advantage of the current invention that this control Sliding formwork is controlled to combine neutral net and approaches in the control of nonlinear system by device, uses neural fusion The self adaptation of unknown-model part is approached, and can be effectively reduced Fuzzy Gain.Neutral net adaptive law passes through Lyapunov method derives, by stability and the convergence of the whole closed loop system of the regulating guarantee of adaptive weighting Property.Ensureing on the basis of single axial movement precision, repaying signal by controller output and reduce synchronous error and make It goes to zero.

Claims (4)

1. a H type precision movement platform adaptive sliding mode compensates synchronous control system, it is characterised in that: this system includes main circuit, control circuit and control object three part；

Described control circuit includes DSP processor, current sampling circuit, rotor position sample circuit, IPM isolated drive circuit and IPM protection circuit；

Described main circuit includes regulating circuit, rectification filtering unit and IPM inversion unit；

Described control object is three-phase permanent linear synchronous generator H type precision movement platform, and fuselage is equipped with grating scale；

Described current sampling circuit, rotor position sample circuit, IPM isolated drive circuit and IPM protection circuit are connected with dsp processor respectively, and described dsp processor is connected to the regulating circuit in described main circuit by voltage-regulating circuit；

Regulating circuit in described main circuit is connected to IPM inversion unit by rectification filtering unit；Described IPM inversion unit is connected with three-phase permanent linear synchronous generator；

Described IPM isolated drive circuit and IPM protection circuit are connected with IPM inversion unit respectively；Described current sampling circuit connects described three-phase permanent linear synchronous generator H type precision movement platform by Hall element；Described rotor position sample circuit connects grating scale.

2. H type precision movement platform adaptive sliding mode as claimed in claim 1 compensates the control method of synchronous control system, it is characterized in that: the method uses RBF network self-adapting sliding formwork compensating controller, sliding formwork being controlled combine neutral net and approaches in the control being applied to nonlinear system, the method comprises the steps:

Step 1 system initialization；

Step 2 allows TN1, TN2 to interrupt；

Step 3 starts T1 underflow and interrupts；

Step 4 routine data initializes；

Step 5 opens total interruption；

Step 6 interrupt latency；

Step 7 TN1 interrupt processing controls program；

Step 8 terminates.

H type precision movement platform adaptive sliding mode the most according to claim 2 compensates synchronisation control means, it is characterised in that: described TN1 interrupt processing controls program and comprises the steps:

Step 1 TN1 interrupts sub-control program；

Step 2 keeps the scene intact；

Step 3 judges whether initial alignment；It is to enter step 4, otherwise enters step 10；

Step 4 current sample, CLARK converts, and PARK converts；

Step 5 judges whether to need position adjustments；Otherwise enter step 7；

Step 6 position adjustments interrupt processing controls program；

Step 7 dq shaft current regulates；

Step 8 PARK inverse transformation；

Step 9 calculates CMPPx and PWM output；

Step 10 position sampling；

Step 11 initial alignment program；

Step 12 restoring scene；

Step 13 interrupts returning.

H type precision movement platform adaptive sliding mode the most according to claim 3 compensates synchronisation control means, it is characterised in that: described step 6 position adjustments interrupt processing controls program and comprises the following steps:

Step 1 position adjustments interrupts sub-control program；

Step 2 reads encoder values；

Step 3 judges angle；

Step 4 calculates walks distance；

Step 5 performs positioner；

Step 6 performs adaptive controller；

Step 7 calculating current order also exports；

Step 8 interrupts returning.