CN110868128A - Device and method for improving robust tracking control precision of permanent magnet linear synchronous motor - Google Patents

Device and method for improving robust tracking control precision of permanent magnet linear synchronous motor Download PDF

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CN110868128A
CN110868128A CN201911189333.2A CN201911189333A CN110868128A CN 110868128 A CN110868128 A CN 110868128A CN 201911189333 A CN201911189333 A CN 201911189333A CN 110868128 A CN110868128 A CN 110868128A
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permanent magnet
circuit
synchronous motor
linear synchronous
magnet linear
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CN110868128B (en
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赵希梅
�原浩
宫义山
付东学
张丽萍
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Shenyang University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention provides a device and a method for improving robust tracking control precision of a permanent magnet linear synchronous motor, and relates to the technical field of permanent magnet linear synchronous motor control. The device comprises a power supply module, a detection circuit module, a DSP processor module, an IPM intelligent power module, a permanent magnet synchronous motor and an upper computer module. The invention compensates the parameter uncertainty of the system through model feedforward control, and improves the response speed of the system. An adaptive jerk controller is adopted to suppress uncertain factors such as external disturbance and friction force in the system, and the adaptive law enables the robust gain to be converged in a bounded range, so that the robustness of the system is improved; the output signal of the adaptive jerk controller forms a feedback control law after integration, high-frequency resonance caused by excitation of a switching function in the control law and unmodeled dynamics is weakened, the stability and continuity of the control signal are ensured, and the control precision of a permanent magnet linear synchronous motor servo system is improved.

Description

Device and method for improving robust tracking control precision of permanent magnet linear synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet linear synchronous motor control, in particular to a device and a method for improving robust tracking control precision of a permanent magnet linear synchronous motor.
Background
The conventional driving technology mainly adopts a rotary driving mode of 'a rotary motor + a ball screw'. However, due to the existence of the transformation link in the middle, the motion inertia is large, the rigidity is reduced, the speed is slow, the stability is poor, and other adverse effects are caused. In order to avoid the inconvenience of the conventional driving method, a linear motor represented by a permanent magnet linear synchronous motor is widely applied to modern precision positioning systems such as semiconductor processing and electronic equipment manufacturing by adopting a direct driving method. Compared with the traditional driving mode, the direct driving mode has the advantages that the acceleration process is shortened, the transmission rigidity is improved, and the abrasion problem of an intermediate link does not exist; since the load acts directly on the mover, the system performance characteristics can be kept unchanged even in long stroke transmissions. Therefore, the direct-drive mode gradually becomes a research hotspot in the field of high-speed precision drive and transmission.
However, although the direct drive of the permanent magnet linear synchronous motor simplifies the mechanical transmission mechanism, it also increases the difficulty of high-precision control. The servo system of the permanent magnet linear synchronous motor is easily influenced by external load force change; the method is sensitive to the change of system model parameters and unmodeled dynamics; the cogging effect and the end effect enable the electromagnetic thrust to change periodically; during operation, nonlinear friction force related to the moving speed of the rotor is generated. These uncertainty factors will directly act on the permanent magnet linear synchronous motor, reducing the performance of the motor servo system and increasing the difficulty in control. Therefore, how to compensate the above uncertainty factors to meet the control requirement of high speed and high precision is of great significance to the accelerated development of leading-edge technology.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a device and a method for improving the robust tracking control precision of a permanent magnet linear synchronous motor so as to realize the high-precision positioning target of a linear motor servo system.
The technical scheme adopted by the invention is as follows:
on one hand, the invention provides a device for controlling the robustness tracking control precision of a high permanent magnet linear synchronous motor, which comprises a power supply module, a detection circuit module, a DSP (digital signal processor) module, an IPM (intelligent power module), a permanent magnet linear synchronous motor and an upper computer module;
the power supply module comprises a three-phase alternating current power supply, a rectifying circuit and an IPM inverter circuit; the input end of the rectification circuit is connected with a three-phase alternating current power supply, and the output end of the rectification circuit is connected with the input end of the IPM inverter circuit; the output end of the IPM inverter circuit is connected with the permanent magnet linear synchronous motor;
the DSP processor module comprises a DSP processor and a peripheral circuit, and a PWM port of the DSP processor is connected to the input end of the IPM inverter circuit through the IPM protection isolation driving circuit; the peripheral circuit comprises a level conversion circuit, a Fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG circuit and a DSP reset circuit; the level conversion circuit converts the power supply voltage into the working voltage supplied by the DSP processor; the Fault signal acquisition circuit is connected with an external interrupt pin of the DSP processor, the DSP crystal oscillator circuit provides 30MHz working frequency for the DSP processor, and a pin 1 and a pin 4 of the crystal oscillator circuit are respectively connected with an X1 interface and an X2 interface of the DSP; pins 1, 2, 3, 7, 9, 11, 13 and 14 of the JTAG interface circuit are respectively connected with pins 79, 78, 76, 77, 87, 85 and 86 of the DSP; the reset circuit is used for restoring the whole circuit to an initial state, and a pin 1 in the reset circuit is connected with a pin 80 of the DSP;
the detection module comprises a current detection circuit, a Hall sensor, a position and speed detection circuit and a grating ruler; the input end of the current detection circuit is connected with the output end of the IPM inverter circuit through the Hall sensor, and the output end of the current detection circuit is connected with the current signal input end of the DSP processor; the input end of the position and speed detection circuit is connected with the output end of the double-shaft platform through the grating ruler, and the output end of the position and speed detection circuit is connected with the position and speed signal input end of the DSP;
the input end of the IPM isolation protection driving circuit is connected with the PWM port of the DSP processor, and the output end of the IPM isolation protection driving circuit is connected with the input end of the IPM inverter circuit;
the input end of the permanent magnet linear synchronous motor is connected with the output end of the IPM inverter circuit;
the upper computer writes a software control program by using a programming language, the control program firstly samples and processes data acquired by a detection module, then obtains a tracking error of the permanent magnet linear synchronous motor by subtracting the acquired data from a position reference instruction signal, establishes a filtering error vector as an input variable of the adaptive jerk controller, executes an adaptive jerk control algorithm, and finally connects a software program taking the adaptive jerk control algorithm as a core with an SCI serial port pin of the DSP processor through an SCI serial port bus to download the DSP processor for operation so as to drive a servo system to operate.
On the other hand, the invention provides a method for improving the robust tracking control precision of a permanent magnet linear synchronous motor, which is realized by the device for improving the robust tracking control precision of the permanent magnet linear synchronous motor, and comprises the following steps:
step 1: inputting a reference position signal of the permanent magnet linear synchronous motor, and enabling the permanent magnet linear synchronous motor to start moving after receiving the position signal;
step 2: after the permanent magnet linear synchronous motor moves, the detection circuit works, and the grating ruler outputs orthogonal square wave pulse signals and zero pulse signals through the position and speed detection circuit, so that three pulse signals are obtained; pulse signals are all sent to an orthogonal coding pulse input unit EQEP of the DSP, the resolution of the encoder is improved through quadruple frequency processing, meanwhile, a universal timer is set to be in a directional counting mode, the position deviation of the rotor is obtained from the number of pulses of two-phase orthogonal square wave pulse signals, the steering of the rotor is obtained through the advance relation of the two-phase pulses, and therefore the position and the speed of the rotor are obtained; collecting rotor current by using a Hall sensor, collecting the rotor current by using the Hall sensor, and determining the actual position, speed and current of a permanent magnet linear synchronous motor rotor;
and step 3: calculating a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, compensating the parameter uncertainty of a system by utilizing model feedforward control, then suppressing the external disturbance, the end effect and the nonlinear friction force of the system by adopting an adaptive jerk controller, and then converging the robust gain in a bounded range by an exponential adaptive law, so that the robustness of the system is improved, the output signal of the adaptive jerk controller is integrated to form a feedback control law of the system, the continuity and the stability of the system are ensured, the feedforward control law and the feedback control law are combined, and finally a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor, is calculated;
step 3.1: establishing an electromagnetic thrust equation and a mechanical motion equation of the permanent magnet linear synchronous motor;
establishing a d-q axis model: for the permanent magnet linear synchronous motor, magnetic field orientation control is adopted, the magnetic pole axis of a permanent magnet is taken as a d axis, and an electric angle which leads the d axis by 90 degrees is taken as a q axis, so that a d-q coordinate system is formed;
let the current inner loop d-axis current component idWhen the stator current vector and the permanent magnet magnetic field are orthogonal in space, the electromagnetic thrust equation of the permanent magnet linear synchronous motor is as follows:
Figure BDA0002293166010000031
in the formula, FeIs electromagnetic thrust; tau is a polar distance; lambda [ alpha ]PMIs a permanent magnet flux linkage; i.e. id、iq、Ld、LqCurrent and inductance of d and q axes respectively; by using idControl is 0, the rotor current and the stator current are orthogonal in space, and the electromagnetic thrust equation is simplified into
Figure BDA0002293166010000032
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure BDA0002293166010000033
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000034
the rotor acceleration is obtained;
Figure BDA0002293166010000035
is the mover speed; m is the total mass of the rotor; b is a viscous friction coefficient; delta M and delta B are respectively the uncertain quantity of the change of the M and B parameters; f is disturbance force comprising external disturbance, friction force and unmodeled dynamic;
when the system parameter of the control system changes, external disturbance and interference of nonlinear friction force, the dynamic equation at the moment is
Figure BDA0002293166010000036
In the formula, theta1＝(M+ΔM)/Kf，θ2＝(B+ΔB)/Kf，d＝F/Kf，u＝iqIs a control law of a servo system;
step 3.2: defining a filtering error vector as
z＝[e1e2e3]T(5)
In the formula
Figure BDA0002293166010000037
In the formula, xdAs a reference position signal, e1For position tracking error, k1＞0，k2Feedback gain > 0. Different from the traditional robust control, the introduction of the filtering error can obtain additional design freedom degree, and the formula (5) is replaced by the formula (4)
θ1(t)e3＝Ydθ+S+d-u (7)
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000041
is a reference position vector; theta is ═ theta1，θ2]TIs a system parameter vector; s is the error of the kinetic equation between the reference model and the actual model:
Figure BDA0002293166010000042
therefore, a two-degree-of-freedom control structure is proposed according to equation (7), and the control law of the servo system of the permanent magnet linear synchronous motor is as follows:
u＝u1+u2(9)
in the formula u1Is a model-based feed-forward control law for compensating for uncertainty in system parameter variations, expressed as:
Figure BDA0002293166010000043
wherein the content of the first and second substances,
Figure BDA0002293166010000044
is an estimate of the system parameter vector, u2The method is a feedback control law, and when external disturbance and model uncertainty exist in the system, the robustness of the closed-loop system is ensured;
step 3.3: to ensure the feedback control law u2Continuity of (3), then jerk control law
Figure BDA0002293166010000045
Is bounded; therefore, equation (7) is derived:
Figure BDA0002293166010000046
in the formula:
Figure BDA0002293166010000047
Figure BDA0002293166010000048
using gradient-based adaptive law pairs
Figure BDA0002293166010000049
Updating:
Figure BDA00022931660100000410
in the formula (I), the compound is shown in the specification,
Figure BDA00022931660100000411
estimating an error vector for the system parameters, wherein gamma is a normal number; the feedforward control law u is obtained from equation (14)1Comprises the following steps:
Figure BDA00022931660100000412
step 3.4: design adaptive jerk control law
Figure BDA00022931660100000413
Comprises the following steps:
Figure BDA00022931660100000414
in the formula, α2Is a normal number;
Figure BDA00022931660100000415
for adaptive robust gain, β2To fix the robust gain, an
Figure BDA00022931660100000416
β2Is greater than 0; thus feedback control law u2Is composed of
Figure BDA0002293166010000051
In the formula, KsIs a normal number, E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)](18)
To avoid high frequency resonances due to too large a robust gain,
Figure BDA0002293166010000052
is designed as
Figure BDA0002293166010000053
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000054
k3is a normal number; order to
Figure BDA0002293166010000055
Converge to exponentially
Figure BDA0002293166010000056
Then
Figure BDA0002293166010000057
Is shown as
Figure BDA0002293166010000058
In the formula, () represents a convolution operation.
And 4, step 4: the DSP processor generates corresponding six paths of PWM pulse signals to respectively drive the permanent magnet linear synchronous motor to operate;
the IPM protection isolation driving circuit converts PWM signals output by the DSP processor into driving signals, fixed 220V three-phase alternating current is converted into stable direct current after passing through the rectifying circuit and is sent to the IPM inverter circuit, the IPM inverter circuit controls the on and off of six IGBTs in the IPM inverter circuit according to six PWM pulse signals generated by the DSP processor, three-phase alternating current meeting the requirement is obtained, the permanent magnet linear synchronous motor is driven, the control of a servo system of the permanent magnet linear synchronous motor is realized, and then the servo processing system is driven, and the precision processing is realized.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the device and the method for improving the robust tracking precision of the permanent magnet linear synchronous motor improve the response speed of the system through the parameter uncertainty of the model feedforward control compensation system. An adaptive jerk controller is adopted to suppress uncertain factors such as external disturbance and friction force in the system, and the adaptive law enables the robust gain to be converged in a bounded range, so that the robustness of the system is improved; the output signal of the adaptive jerk controller forms a feedback control law after integration, high-frequency resonance caused by excitation of a switching function in the control law and unmodeled dynamics is weakened, and stability and continuity of the control signal are guaranteed. The positioning precision is improved, stable control signals can be generated, the control performance of the system is obviously improved, the tracking error is reduced, high-frequency oscillation is avoided, and the control precision of a permanent magnet linear synchronous motor servo system is improved.
In addition, the high-performance Hall sensor and the grating ruler are adopted, the precision of the collected signals is improved, the TMS320F28335 chip is used as the core processor, the data processing capacity of the servo system is improved, and the processing precision of the servo system is improved.
Drawings
Fig. 1 is a structural diagram of a servo control system for a permanent magnet linear synchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a main circuit of a permanent magnet linear synchronous motor according to an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a current detection circuit according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a position and velocity detection circuit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the peripheral circuit connection of the DSP processor according to the embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of a level shift circuit of a DSP power supply according to an embodiment of the present invention;
FIG. 7 is a schematic circuit diagram of a Fault signal acquisition circuit according to an embodiment of the present invention;
FIG. 8 is a schematic circuit diagram of a DSP crystal oscillator circuit according to an embodiment of the present invention;
FIG. 9 is a circuit diagram of JTAG circuitry provided by embodiments of the present invention;
FIG. 10 is a schematic circuit diagram of a DSP reset circuit according to an embodiment of the present invention;
FIG. 11 is a schematic circuit diagram of an IPM protection isolation driver circuit according to an embodiment of the present invention;
fig. 12 is a flowchart of a method for improving robust tracking control accuracy of a permanent magnet linear synchronous motor according to an embodiment of the present invention;
fig. 13 is an algorithm schematic diagram for improving the robust tracking control accuracy of the permanent magnet linear synchronous motor according to the embodiment of the present invention;
fig. 14 is a tracking error curve diagram of a permanent magnet linear synchronous motor control system based on a sliding mode controller according to an embodiment of the present invention;
fig. 15 is a graph of a tracking error curve of a permanent magnet linear synchronous motor control system based on an adaptive accelerometer according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
On one hand, the invention provides a device for controlling the robustness tracking control precision of a high permanent magnet linear synchronous motor, which comprises a power supply module, a detection circuit module, a DSP (digital signal processor) module, an IPM (intelligent power module), a permanent magnet linear synchronous motor and an upper computer module, as shown in figure 1;
the power supply module comprises a three-phase alternating current power supply, a rectifying circuit and an IPM inverter circuit; the input end of the rectification circuit is connected with a three-phase alternating current power supply, and the output end of the rectification circuit is connected with the input end of the IPM inverter circuit; the output end of the IPM inverter circuit is connected with the permanent magnet linear synchronous motor; the rectification circuit is connected with a three-phase alternating current power supply and converts the changed three-phase alternating current into unidirectional stable direct current; the IPM inverter circuit integrates a power switch device and a driving circuit together, uses an IGBT as a power switch element, and is internally provided with an integrated structure of the driving circuit, wherein the optimal IGBT driving condition is set, the distance between the driving circuit and the IGBT is very short, the output impedance is very low, direct current output by a rectifying circuit can be inverted into alternating current, and the output end of the driving circuit is connected with a permanent magnet linear synchronous motor, so that the permanent magnet linear synchronous motor is powered.
An anode of a rectifier bridge in the rectifier circuit is connected to the N end of the IPM inverter circuit, a cathode of the rectifier bridge is connected to the P end of the IPM inverter circuit, and three-phase current output by the IPM inverter circuit is connected to the permanent magnet synchronous linear motor through an output terminal U, V, W. P, N is the input terminal of IPM inverter circuit after rectification, conversion, smoothing and filtering of the frequency converter, P is the positive terminal, and N is the negative terminal. The rectifying unit adopts a bridge type uncontrollable rectifying mode and large-capacitance filtering, so that constant voltage suitable for IPM operation can be obtained.
In this embodiment, the start and stop of the motor are controlled by the normally open contact switch a and the normally closed contact switch B, respectively.
When the circuit works, the three-phase alternating current converts 220V voltage into three-phase alternating current with an effective value about the voltage of the input end of the IPM inverter circuit through the transformer, then obtains pulsating direct current voltage through the rectifier bridge transistor circuit, then smoothes the direct current voltage through capacitance filtering, and then adds stable voltage to the PN two ends of the IPM inverter circuit. The direct current which is converted at the moment is inverted into variable-frequency three-phase alternating current through the IPM inverter circuit, so that the permanent magnet linear synchronous motor is driven. The IGBT in the IPM inverter circuit is controlled to be switched on and switched off by a PWM pulse sequence output by the control circuit, and the purpose is to obtain three-phase alternating current meeting the required amplitude phase.
The detection module comprises a current detection circuit, a Hall sensor, a position and speed detection circuit and a grating ruler; the input end of the current detection circuit is connected with the output end of the IPM inverter circuit through the Hall sensor, and the output end of the current detection circuit is connected with the current signal input end of the DSP processor; the input end of the position and speed detection circuit is connected with the output end of the double-shaft platform through the grating ruler, and the output end of the position and speed detection circuit is connected with the position and speed signal input end of the DSP;
as shown in fig. 3, the current detection circuit is used for converting three-phase rotor currents of the permanent magnet linear synchronous motor into digital form through a sensor and entering a DSP processor, and performing a series of conversion. Because the system of the embodiment is a three-phase balance system, namely the vector sum of three-phase currents is zero, the three-phase currents can be obtained only by detecting the currents of two phases. This embodiment uses an LTS25-NP type sensor to detect current.
The input end of the position and speed detection circuit is connected with the output end of the permanent magnet linear synchronous motor through the grating ruler, and the output end of the position and speed detection circuit is connected with an EQEP port of the DSP processor and used for acquiring position and speed signals of a rotor of the permanent magnet linear synchronous motor through the grating ruler and converting the position and speed signals into digital quantity which can be identified by the DSP processor.
As shown in fig. 4, the position and speed detecting circuit sends two orthogonal square wave pulse signals a and B to two capture units EQEP1 (pin 90) and EQEP2 (pin 91) of the DSP processor through a high-speed optical coupler LTV-341W. The internal capturing unit of the DSP processor can be defined as an orthogonal coding pulse input unit by using software, then pulses can be counted, and the motion direction, position and speed of the permanent magnet linear synchronous motor can be judged according to the pulse sequence.
In the process of motor movement, the grating ruler detects the actual position and speed of the motor, and the Hall sensor detects the actual current. And the three detection quantities of the position, the speed and the current are sent to the DSP processor through the detection circuit.
The DSP processor receives output signals from the current detection circuit and the position and speed detection circuit, processes the two signals through the DSP processor, and outputs a result signal to the IPM inverter circuit through the IPM protection isolation driving circuit. The DSP processor part comprises a DSP processor and a peripheral circuit thereof, the reference position signal is differenced with the position signal of the permanent magnet linear synchronous motor detected by the grating ruler to obtain the tracking error of the permanent magnet linear synchronous motor, and a filtering error vector is established according to the tracking error and is used as the input quantity of the self-adaptive acceleration controller, the parameter uncertainty of the system is compensated through model feedforward control, then the uncertainty of external disturbance, end effect, nonlinear friction force and the like of the system is suppressed by adopting jerk control, then, through an exponential type self-adaptive law, the robust gain is converged in a bounded range, the robustness of the system is improved, the output signal of the self-adaptive acceleration controller is integrated to form a feedback control law of the system, the continuity and the stability of the system are ensured, finally, a control signal of the motor is obtained through calculation, a PWM signal is generated, and the permanent magnet linear synchronous motor is subjected to servo driving;
and a PWM port of the DSP processor is connected to the other input end of the IPM inverter circuit through the IPM protection isolation driving circuit. In this embodiment, the model of the DSP processor is TMS320F28335, and a schematic diagram of a connection structure of a peripheral circuit thereof is shown in fig. 5. The peripheral circuit of the DSP processor comprises a level conversion circuit, as shown in figure 6, a Fault signal acquisition circuit, as shown in figure 7, a DSP crystal oscillator circuit, as shown in figure 8, a JTAG circuit, as shown in figure 9, a DSP reset circuit, as shown in figure 10, and the level conversion circuit converts a 5V power supply voltage into a 3.3V working voltage supplied by the DSP processor. The Fault signal acquisition circuit is connected with an external interrupt pin of the DSP processor, and the DSP processor interrupts a program to process faults. The DSP crystal oscillator circuit provides 30MHz working frequency for the DSP processor, and pin 1 and pin 4 of the crystal oscillator circuit are respectively connected with an X1 (pin 104) interface and an X2 (pin 102) interface of the DSP. The JTAG circuit is used for testing the electrical characteristics of the chip and detecting whether the chip has problems, and pins 1, 2, 3, 7, 9, 11, 13 and 14 of the JTAG interface circuit are respectively connected with pins 79, 78, 76, 77, 87, 85 and 86 of the DSP. The reset circuit is used for restoring the whole circuit to an initial state, and a pin 1 in the reset circuit is connected with a pin 80 of the DSP.
The IPM isolation driving protection circuit is used for photoelectric isolation and driving six IGBTs in the IPM inverter circuit to work. The IPM protection isolation driving circuit, as shown in fig. 11, replaces the power device with the IPM protection isolation driving circuit as the power source power device. After the current is processed by IPM, the current is introduced into the permanent magnet linear synchronous motor, and the motor realizes the motion.
The input end of the permanent magnet linear synchronous motor is connected with the output end of the IPM inverter circuit, and a main circuit schematic diagram of the permanent magnet linear synchronous motor is shown in FIG. 2;
the upper computer writes a software control program by using a programming language, the control program firstly samples and processes data acquired by a detection module, then obtains a tracking error of the permanent magnet linear synchronous motor by subtracting the acquired data from a position reference instruction signal, establishes a filtering error vector as an input variable of the adaptive jerk controller, executes an adaptive jerk control algorithm, and finally connects a software program taking the adaptive jerk control algorithm as a core with an SCI serial port pin of the DSP processor through an SCI serial port bus to download the DSP processor for operation so as to drive a servo system to operate.
In the embodiment, a control program written by using a C language is written by Code Composer Studio 6.1.3 software and stored in an upper computer, the control program firstly processes data acquired by a detection circuit, then performs an adaptive jerk control algorithm by subtracting the acquired data from a reference instruction signal and establishing a filter error vector as an input variable of an adaptive jerk controller, and finally connects a C language program taking the adaptive jerk control algorithm as a core with an SCI serial port pin of the DSP processor through an SCI serial port bus to download the DSP processor for operation so as to drive a servo system to operate.
On the other hand, the present invention provides a method for improving robust tracking control accuracy of a permanent magnet linear synchronous motor, which is implemented by the apparatus for improving robust tracking control accuracy of a permanent magnet linear synchronous motor, as shown in fig. 12 and 13, and includes the following steps:
step 1: inputting a reference position signal of the permanent magnet linear synchronous motor, and enabling the permanent magnet linear synchronous motor to start moving after receiving the position signal;
step 2: after the permanent magnet linear synchronous motor moves, the detection circuit works, and the grating ruler outputs orthogonal square wave pulse signals and zero pulse signals through the position and speed detection circuit, so that three pulse signals are obtained; pulse signals are all sent to an orthogonal coding pulse input unit EQEP of the DSP, the resolution of the encoder is improved through quadruple frequency processing, meanwhile, a universal timer is set to be in a directional counting mode, the position deviation of the rotor is obtained from the number of pulses of two-phase orthogonal square wave pulse signals, the steering of the rotor is obtained through the advance relation of the two-phase pulses, and therefore the position and the speed of the rotor are obtained; collecting rotor current by using a Hall sensor, collecting the rotor current by using the Hall sensor, and determining the actual position, speed and current of a permanent magnet linear synchronous motor rotor;
and step 3: calculating a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, compensating the parameter uncertainty of a system by utilizing model feedforward control, then suppressing the external disturbance, the end effect and the nonlinear friction force of the system by adopting an adaptive jerk controller, and then converging the robust gain in a bounded range by an exponential adaptive law, so that the robustness of the system is improved, the output signal of the adaptive jerk controller is integrated to form a feedback control law of the system, the continuity and the stability of the system are ensured, the feedforward control law and the feedback control law are combined, and finally a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor, is calculated;
step 3.1: establishing an electromagnetic thrust equation and a mechanical motion equation of the permanent magnet linear synchronous motor;
establishing a d-q axis model: for the permanent magnet linear synchronous motor, magnetic field orientation control is adopted, the magnetic pole axis of a permanent magnet is taken as a d axis, and an electric angle which leads the d axis by 90 degrees is taken as a q axis, so that a d-q coordinate system is formed;
let the current inner loop d-axis current component idWhen the stator current vector and the permanent magnet magnetic field are orthogonal in space, the electromagnetic thrust equation of the permanent magnet linear synchronous motor is as follows:
Figure BDA0002293166010000091
in the formula, FeIs electromagnetic thrust; tau is a polar distance; lambda [ alpha ]PMIs a permanent magnet flux linkage; i.e. id、iq、Ld、LqCurrent and inductance of d and q axes respectively; by using idControl is 0, the rotor current and the stator current are orthogonal in space, and the electromagnetic thrust directionSimplified to
Figure BDA0002293166010000092
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure BDA0002293166010000093
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000094
the rotor acceleration is obtained;
Figure BDA0002293166010000095
is the mover speed; m is the total mass of the rotor; b is a viscous friction coefficient; delta M and delta B are respectively the uncertain quantity of the change of the M and B parameters; f is disturbance force comprising external disturbance, friction force and unmodeled dynamic;
when the system parameter of the control system changes, external disturbance and interference of nonlinear friction force, the dynamic equation at the moment is
Figure BDA0002293166010000101
In the formula, theta1＝(M+ΔM)/Kf，θ2＝(B+ΔB)/Kf，d＝F/Kf，u＝iqIs a control law of a servo system;
step 3.2: defining a filtering error vector as
z＝[e1e2e3]T(5)
In the formula
Figure BDA0002293166010000102
In the formula, xdAs a reference position signal, e1For position tracking error, k1＞0，k2Feedback gain > 0. Different from the traditional robust control, the introduction of the filtering error can obtain additional design freedom degree, and the formula (5) is replaced by the formula (4)
θ1(t)e3＝Ydθ+S+d-u (7)
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000103
is a reference position vector; theta is ═ theta1，θ2]TIs a system parameter vector; s is the error of the kinetic equation between the reference model and the actual model:
Figure BDA0002293166010000104
therefore, a two-degree-of-freedom control structure is proposed according to equation (7), and the control law of the servo system of the permanent magnet linear synchronous motor is as follows:
u＝u1+u2(9)
in the formula u1Is a model-based feed-forward control law for compensating for uncertainty in system parameter variations, expressed as:
Figure BDA0002293166010000105
wherein the content of the first and second substances,
Figure BDA0002293166010000106
is an estimate of the system parameter vector, u2The method is a feedback control law, and when external disturbance and model uncertainty exist in the system, the robustness of the closed-loop system is ensured;
step 3.3: to ensure the feedback control law u2Continuity of (3), then jerk control law
Figure BDA0002293166010000107
Is bounded; therefore, equation (7) is derived:
Figure BDA0002293166010000108
in the formula:
Figure BDA0002293166010000109
Figure BDA0002293166010000111
using gradient-based adaptive law pairs
Figure BDA0002293166010000112
Updating:
Figure BDA0002293166010000113
in the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000114
estimating an error vector for the system parameters, wherein gamma is a normal number; the feedforward control law u is obtained from equation (14)1Comprises the following steps:
Figure BDA0002293166010000115
step 3.4: design adaptive jerk control law
Figure BDA0002293166010000116
Comprises the following steps:
Figure BDA0002293166010000117
in the formula, α2Is a normal number;
Figure BDA0002293166010000118
for adaptive robust gain, β2To fix the robust gain, an
Figure BDA0002293166010000119
β2Is greater than 0; thus feedback control law u2Is composed of
Figure BDA00022931660100001110
In the formula, KsIs a normal number, E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)](18)
To avoid high frequency resonances due to too large a robust gain,
Figure BDA00022931660100001111
is designed as
Figure BDA00022931660100001112
In the formula (I), the compound is shown in the specification,
Figure BDA00022931660100001113
k3is a normal number; order to
Figure BDA00022931660100001114
Converge to exponentially
Figure BDA00022931660100001115
Then
Figure BDA00022931660100001116
Is shown as
Figure BDA00022931660100001117
In the formula, () represents a convolution operation.
Since d is equal to C2From the median theorem
Figure BDA00022931660100001118
In the formula (I), the compound is shown in the specification,
Figure BDA00022931660100001121
because of the fact that
Figure BDA00022931660100001119
In succession, then
Figure BDA00022931660100001120
In the formula, rho is a non-negative decreasing function;
when in use
Figure BDA0002293166010000121
And β2When not less than 0, define
L1＝e3(Nd(t)-β1sgn(e2)) (23)
Figure BDA0002293166010000122
And is
Figure BDA0002293166010000123
Figure BDA0002293166010000124
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000125
is a normal number; from formula (25) to formula (26)
Figure BDA0002293166010000126
Figure BDA0002293166010000127
Order to
Figure BDA0002293166010000128
Selecting a Lyapunov function
Figure BDA0002293166010000129
In the formula (I), the compound is shown in the specification,
Figure BDA00022931660100001210
because of P1≥0，P2Is greater than or equal to 0, then V (y, t) is greater than or equal to 0, and
η1||y||2≤V(y,t)≤η2||y||2(31)
in the formula (I), the compound is shown in the specification,
Figure BDA00022931660100001211
m＝inf(θ1)，
Figure BDA00022931660100001212
derivative V (y, t) to obtain
Figure BDA00022931660100001213
Substituting the formula (5), (11), (14), (16), (27) and (28) into the formula (32) to obtain
Figure BDA0002293166010000131
Because of the fact that
Figure BDA0002293166010000132
By substituting formula (33) for formula (32) and combining formula (21) to obtain
Figure BDA0002293166010000133
In the formula (I), the compound is shown in the specification,
Figure BDA0002293166010000134
order to
Figure BDA0002293166010000135
Then
Figure BDA0002293166010000141
According to the Barbalat theorem, | | z | → 0 when t → ∞,
Figure BDA0002293166010000142
the stability of the system is ensured by the above conditions.
And 4, step 4: the DSP processor generates corresponding six paths of PWM pulse signals to respectively drive the permanent magnet linear synchronous motor to operate;
the IPM protection isolation driving circuit converts PWM signals output by the DSP processor into driving signals, fixed 220V three-phase alternating current is converted into stable direct current after passing through the rectifying circuit and is sent to the IPM inverter circuit, the IPM inverter circuit controls the on and off of six IGBTs in the IPM inverter circuit according to six PWM pulse signals generated by the DSP processor, three-phase alternating current meeting the requirement is obtained, the permanent magnet linear synchronous motor is driven, the control of a servo system of the permanent magnet linear synchronous motor is realized, and then the servo processing system is driven, and the precision processing is realized.
To verify the validity of the algorithm, the parameters of the permanent magnet linear synchronous motor selected by the embodiment are as follows:
electromagnetic thrust constant Kf50.7N/A, 6.6kg mover mass M, 8.0 N.s/M viscous friction coefficient B, and permanent magnet linkage lambdaPM0.09Wb, and 32mm of pole pitch tau;
and (3) applying the data of the embodiment and adopting MATLAB software to carry out simulation experiments.
According to the provided motor parameters and the design of the self-adaptive acceleration controller in the embodimentAnd repeatedly debugging by MATLAB to ensure that the effect is optimal, and selecting parameters as follows: k is a radical of1＝1，k2＝60，k3＝5，
Figure BDA0002293166010000143
β1＝2.5，β2＝0.15，Γ＝10，Ks50. A sine wave periodic motion instruction with the amplitude of 1mm and the frequency of 4Hz is input into the system.
From the simulation graphs 14 and 15, it can be seen that a tracking error curve of a permanent magnet linear synchronous motor control system based on a sliding mode controller is shown in fig. 14, a tracking error curve of a permanent magnet linear synchronous motor control system based on an adaptive jerk controller is shown in fig. 15, the maximum tracking error generated by the sliding mode controller is about-3.7 μm, and the tracking error in a steady state is kept at-1.3-1.1 μm; the maximum tracking error generated by the self-adaptive acceleration is about 2 mu m, and the tracking error is kept between-0.6 and 0.6 mu m in a steady state.
Therefore, the adaptive jerk control has obvious advantages over the sliding mode control, and can generate a more stable and continuous control signal, thereby reducing the tracking error of the system, and the validity of the control method is verified in the embodiment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.

Claims (3)

1. The utility model provides a device that improves permanent magnetism linear synchronous motor robust tracking control precision which characterized in that: the intelligent IPM power supply comprises a power supply module, a detection circuit module, a DSP processor module, an IPM intelligent power module, a permanent magnet linear synchronous motor and an upper computer module;
the power supply module comprises a three-phase alternating current power supply, a rectifying circuit and an IPM inverter circuit; the input end of the rectification circuit is connected with a three-phase alternating current power supply, and the output end of the rectification circuit is connected with the input end of the IPM inverter circuit; the output end of the IPM inverter circuit is connected with the permanent magnet linear synchronous motor;
the DSP processor module comprises a DSP processor and a peripheral circuit, and a PWM port of the DSP processor is connected to the input end of the IPM inverter circuit through the IPM protection isolation driving circuit; the peripheral circuit comprises a level conversion circuit, a Fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG circuit and a DSP reset circuit; the level conversion circuit converts the power supply voltage into the working voltage supplied by the DSP processor; the Fault signal acquisition circuit is connected with an external interrupt pin of the DSP processor, the DSP crystal oscillator circuit provides 30MHz working frequency for the DSP processor, and a pin 1 and a pin 4 of the crystal oscillator circuit are respectively connected with an X1 interface and an X2 interface of the DSP; pins 1, 2, 3, 7, 9, 11, 13 and 14 of the JTAG interface circuit are respectively connected with pins 79, 78, 76, 77, 87, 85 and 86 of the DSP; the reset circuit is used for restoring the whole circuit to an initial state, and a pin 1 in the reset circuit is connected with a pin 80 of the DSP;
the detection module comprises a current detection circuit, a Hall sensor, a position and speed detection circuit and a grating ruler; the input end of the current detection circuit is connected with the output end of the IPM inverter circuit through the Hall sensor, and the output end of the current detection circuit is connected with the current signal input end of the DSP processor; the input end of the position and speed detection circuit is connected with the output end of the double-shaft platform through the grating ruler, and the output end of the position and speed detection circuit is connected with the position and speed signal input end of the DSP;
the input end of the IPM isolation protection driving circuit is connected with the PWM port of the DSP processor, and the output end of the IPM isolation protection driving circuit is connected with the input end of the IPM inverter circuit;
the input end of the permanent magnet linear synchronous motor is connected with the output end of the IPM inverter circuit;
the upper computer writes a software control program by using a programming language, the control program firstly samples and processes data acquired by a detection module, then obtains a tracking error of the permanent magnet linear synchronous motor by subtracting the acquired data from a position reference instruction signal, establishes a filtering error vector as an input variable of the adaptive jerk controller, executes an adaptive jerk control algorithm, and finally connects a software program taking the adaptive jerk control algorithm as a core with an SCI serial port pin of the DSP processor through an SCI serial port bus to download the DSP processor for operation so as to drive a servo system to operate.
2. A method for improving robust tracking control accuracy of a permanent magnet linear synchronous motor, which is realized by the device for improving robust tracking control accuracy of a permanent magnet linear synchronous motor in claim 1, and is characterized in that: the method comprises the following steps:
step 1: inputting a reference position signal of the permanent magnet linear synchronous motor, and enabling the permanent magnet linear synchronous motor to start moving after receiving the position signal;
step 2: after the permanent magnet linear synchronous motor moves, the detection circuit works, and the grating ruler outputs orthogonal square wave pulse signals and zero pulse signals through the position and speed detection circuit, so that three pulse signals are obtained; pulse signals are all sent to an orthogonal coding pulse input unit EQEP of the DSP, the resolution of the encoder is improved through quadruple frequency processing, meanwhile, a universal timer is set to be in a directional counting mode, the position deviation of the rotor is obtained from the number of pulses of two-phase orthogonal square wave pulse signals, the steering of the rotor is obtained through the advance relation of the two-phase pulses, and therefore the position and the speed of the rotor are obtained; collecting rotor current by using a Hall sensor, collecting the rotor current by using the Hall sensor, and determining the actual position, speed and current of a permanent magnet linear synchronous motor rotor;
and step 3: calculating a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, compensating the parameter uncertainty of a system by utilizing model feedforward control, then suppressing the external disturbance, the end effect and the nonlinear friction force of the system by adopting an adaptive jerk controller, and then converging the robust gain in a bounded range by an exponential adaptive law, so that the robustness of the system is improved, the output signal of the adaptive jerk controller is integrated to form a feedback control law of the system, the continuity and the stability of the system are ensured, the feedforward control law and the feedback control law are combined, and finally a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor, is calculated;
and 4, step 4: the DSP processor generates corresponding six paths of PWM pulse signals to respectively drive the permanent magnet linear synchronous motor to operate;
the IPM protection isolation driving circuit converts PWM signals output by the DSP processor into driving signals, fixed 220V three-phase alternating current is converted into stable direct current after passing through the rectifying circuit and is sent to the IPM inverter circuit, the IPM inverter circuit controls the on and off of six IGBTs in the IPM inverter circuit according to six PWM pulse signals generated by the DSP processor, three-phase alternating current meeting the requirement is obtained, the permanent magnet linear synchronous motor is driven, the control of a servo system of the permanent magnet linear synchronous motor is realized, and then the servo processing system is driven, and the precision processing is realized.
3. The method for improving the robust tracking control accuracy of the permanent magnet linear synchronous motor according to claim 2, wherein the method comprises the following steps: the specific steps of the step 3 are as follows:
step 3.1: establishing an electromagnetic thrust equation and a mechanical motion equation of the permanent magnet linear synchronous motor;
establishing a d-q axis model: for the permanent magnet linear synchronous motor, magnetic field orientation control is adopted, the magnetic pole axis of a permanent magnet is taken as a d axis, and an electric angle which leads the d axis by 90 degrees is taken as a q axis, so that a d-q coordinate system is formed;
let the current inner loop d-axis current component idWhen the stator current vector and the permanent magnet magnetic field are orthogonal in space, the electromagnetic thrust equation of the permanent magnet linear synchronous motor is as follows:
Figure FDA0002293163000000021
in the formula, FeIs electromagnetic thrust; tau is a polar distance; lambda [ alpha ]PMIs a permanent magnet flux linkage; i.e. id、iq、Ld、LqCurrent and inductance of d and q axes respectively; by using idControl is 0, the rotor current and the stator current are orthogonal in space, and the electromagnetic thrust equation is simplified into
Figure FDA0002293163000000022
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure FDA0002293163000000031
In the formula (I), the compound is shown in the specification,
Figure FDA0002293163000000032
the rotor acceleration is obtained;
Figure FDA0002293163000000033
is the mover speed; m is the total mass of the rotor; b is a viscous friction coefficient; delta M and delta B are respectively the uncertain quantity of the change of the M and B parameters; f is disturbance force comprising external disturbance, friction force and unmodeled dynamic;
when the system parameter of the control system changes, external disturbance and interference of nonlinear friction force, the dynamic equation at the moment is
Figure FDA0002293163000000034
In the formula, theta1＝(M+ΔM)/Kf，θ2＝(B+ΔB)/Kf，d＝F/Kf，u＝iqIs a control law of a servo system;
step 3.2: defining a filtering error vector as
z＝[e1e2e3]T(5)
In the formula
Figure FDA0002293163000000035
In the formula, xdAs a reference position signal, e1For position tracking error, k1＞0，k2The feedback gain is more than 0, and different from the traditional robust control, the additional design freedom degree can be obtained by introducing the filtering error, and the formula (5) is replaced by the formula (4)
θ1(t)e3＝Ydθ+S+d-u (7)
In the formula (I), the compound is shown in the specification,
Figure FDA0002293163000000036
is a reference position vector; theta is ═ theta1，θ2]TIs a system parameter vector; s is the error of the kinetic equation between the reference model and the actual model:
Figure FDA0002293163000000037
therefore, a two-degree-of-freedom control structure is proposed according to equation (7), and the control law of the servo system of the permanent magnet linear synchronous motor is as follows:
u＝u1+u2(9)
in the formula u1Is a model-based feed-forward control law for compensating for uncertainty in system parameter variations, expressed as:
Figure FDA0002293163000000038
wherein the content of the first and second substances,
Figure FDA0002293163000000039
is an estimate of the system parameter vector, u2The method is a feedback control law, and when external disturbance and model uncertainty exist in the system, the robustness of the closed-loop system is ensured;
step 3.3: to ensure the feedback control law u2Continuity of (3), then jerk control law
Figure FDA00022931630000000310
Is bounded; therefore, equation (7) is derived:
Figure FDA0002293163000000041
in the formula:
Figure FDA0002293163000000042
Figure FDA0002293163000000043
using gradient-based adaptive law pairs
Figure FDA0002293163000000044
Updating:
Figure FDA0002293163000000045
in the formula (I), the compound is shown in the specification,
Figure FDA0002293163000000046
estimating an error vector for the system parameters, wherein gamma is a normal number; the feedforward control law u is obtained from equation (14)1Comprises the following steps:
Figure FDA0002293163000000047
step 3.4: design adaptive jerk control law
Figure FDA0002293163000000048
Comprises the following steps:
Figure FDA0002293163000000049
in the formula, α2Is a normal number;
Figure FDA00022931630000000410
for adaptive robust gain, β2To fix the robust gain, an
Figure FDA00022931630000000411
β2Is greater than 0; thus feedback control law u2Is composed of
Figure FDA00022931630000000412
In the formula, KsIs a normal number, E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)](18)
To avoid high frequency resonances due to too large a robust gain,
Figure FDA00022931630000000413
is designed as
Figure FDA00022931630000000414
In the formula (I), the compound is shown in the specification,
Figure FDA00022931630000000415
k3is a normal number; order to
Figure FDA00022931630000000416
Converge to exponentially
Figure FDA00022931630000000417
Then
Figure FDA00022931630000000418
Is shown as
Figure FDA00022931630000000419
In the formula, () represents a convolution operation.
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