CN111130411B - Device and method for improving synchronous control precision of double-shaft direct-drive platform servo system - Google Patents

Device and method for improving synchronous control precision of double-shaft direct-drive platform servo system Download PDF

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CN111130411B
CN111130411B CN201911188870.5A CN201911188870A CN111130411B CN 111130411 B CN111130411 B CN 111130411B CN 201911188870 A CN201911188870 A CN 201911188870A CN 111130411 B CN111130411 B CN 111130411B
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CN111130411A (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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Abstract

The invention provides a device and a method for improving the synchronous control precision of a double-shaft direct-drive platform servo system, and relates to the technical field of numerical control. The device comprises a power supply module, a DSP processor module, a detection module, an IPM isolation protection driving circuit, an upper computer and a permanent magnet linear synchronous motor; the invention realizes the synchronous control of the double shafts by using the cross-coupling iterative learning controller; the parameter uncertainty of the system is compensated through model feedforward control, and the response speed of the system is improved; then, an adaptive jerk controller is adopted to restrain uncertain factors such as external disturbance and friction force in the system, and an adaptive law enables a 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, stability and continuity of a control signal are guaranteed, and processing precision of a servo system is improved.

Description

Device and method for improving synchronous control precision of double-shaft direct-drive platform servo system
Technical Field
The invention relates to the technical field of numerical control, in particular to a device and a method for improving the synchronous control precision of a double-shaft direct-drive platform servo system.
Background
With the rapid development and wide application of information technology, biotechnology, new material technology, laser and lithography technology, etc., the field of manufacturing industry is undergoing a great revolution. Leading-edge problems of digital manufacturing, green manufacturing, micro-nano manufacturing, intelligent manufacturing and the like become important components for comprehensively promoting and implementing the strategy of strong country in China. The emerging technology industry has made higher requirements on the precision and efficiency of the manufacturing industry, so that high-precision machining becomes the mainstream development direction of the high-end manufacturing field at present. In the face of such severe industrial requirements, the traditional transmission mode of the rotary servo motor and the ball screw involves many intermediate parts, has linear and nonlinear problems of elastic deformation, reverse clearance, friction, vibration, low rigidity, response lag and the like, and is difficult to meet the requirements of high-speed and high-precision driving and transmission. The permanent magnet linear synchronous motor with the zero transmission characteristic can eliminate the adverse effects, has the advantages of simple structure, high rigidity, quick dynamic response, no transmission clearance and the like, and becomes a research hotspot in the field of precision driving and transmission. The biaxial direct-drive precise motion platform has increasingly larger application requirements in industrial occasions requiring high speed, high acceleration and high precision, such as laser engraving, advanced manufacturing, microelectronic and micromechanical manufacturing, precise measurement and the like, and becomes a research hotspot at present. Therefore, the application of the double-shaft direct-drive platform in high-speed and high-precision numerical control equipment is wider, relevant research is developed by taking the double-shaft direct-drive platform as an object, and the double-shaft direct-drive platform has more important practical significance for promoting the development of high-end numerical control equipment. At present, high speed, high precision and high reliability are the main trends of the development of modern numerical control equipment, wherein the reliability is the most critical, which is a precondition for realizing high-speed and high-precision processing of the numerical control equipment and is a main bottleneck for restricting the development of high-grade numerical control equipment. In practical application, the numerical control equipment has variable processing conditions, which often cause fluctuation of external load and nonlinear friction force factors, so that the reliability of the system in practice is mainly reflected in how to ensure the running stability and the consistency of the processing performance and prolong the service life as far as possible under the influence of uncertain dynamic model parameters and uncertain nonlinear influences. However, the above object has a great challenge for numerical control equipment using a biaxial direct-drive platform as a core element, and therefore, higher requirements are put on a control method of the numerical control equipment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a device and a method for improving the synchronous control precision of a double-shaft direct-drive platform servo system, so as to realize the high-precision positioning target of the double-shaft direct-drive platform servo system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
on one hand, the invention provides a device for improving the synchronous control precision of a double-shaft direct-drive platform servo system, which comprises a power module, a DSP processor module, a detection module, a first IPM isolation protection driving circuit, a second IPM isolation protection driving circuit, a double-shaft platform 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 dual-axis platform;
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 interface 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 first IPM isolation protection driving circuit and the second IPM isolation protection driving circuit are connected in parallel, the input end of the first IPM isolation protection driving circuit is connected with the PWM port of the DSP processor, and the output end of the first IPM isolation protection driving circuit is connected with the input end of the IPM inverter circuit;
the double-shaft platform comprises a first permanent magnet synchronous motor and a second permanent magnet synchronous motor which are connected in parallel, and the two shafts are respectively represented as y1 and y 2; the input end of the first permanent magnet synchronous motor is connected with the first IPM, the output end of the first permanent magnet synchronous motor is connected with the y1 axis grating ruler, the second permanent magnet synchronous motor is connected with the second IPM, and the output end of the second permanent magnet synchronous motor is connected with the y2 axis grating ruler;
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 performs difference input on the acquired data and a position reference instruction signal to a cross-coupling iterative learning controller, 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 method for improving the synchronous control precision of the double-shaft direct-drive platform servo system is realized by the device for improving the synchronous control precision of the double-shaft direct-drive platform servo system, 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 synchronous motor starts to move, 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; the pulse signals are sent to an orthogonal coding pulse input unit EQEP of a DSP processor, the resolution of an 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 pulse number of the 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 currents by using a Hall sensor, and determining the actual positions, speeds and currents of rotors of the two permanent magnet linear synchronous motors;
and step 3: calculating a tracking error and a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, solving the coupling problem of a double shaft by using a cross-coupling iterative learning controller, compensating the parameter uncertainty of a system by using model feedforward control, then inhibiting the external disturbance, the end effect and the nonlinear friction force of the system by using an adaptive jerk controller, converging the robust gain in a bounded range by using an exponential adaptive law, improving the robustness of the system, forming a feedback control law of the system after integrating the output signal of the adaptive jerk controller, and calculating to obtain a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor;
and 4, step 4: the DSP processor generates 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 into driving signals, three-phase alternating current is converted into stable direct current through the rectifying circuit and then 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 paths of PWM pulse signals generated by the DSP, three-phase alternating current for driving the permanent magnet linear synchronous motor is obtained, the control of a servo system of the permanent magnet linear synchronous motor is realized, a servo processing system is further driven, and the precision processing is realized.
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; the permanent magnet linear synchronous motor adopts magnetic field orientation control, the magnetic pole axis of a permanent magnet is taken as a d axis, an electric angle which leads the d axis by 90 degrees is taken as a q axis, and a d-q coordinate system is established;
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 GDA0003015601360000031
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 GDA0003015601360000032
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure GDA0003015601360000041
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000042
the rotor acceleration is obtained;
Figure GDA0003015601360000043
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 GDA0003015601360000044
Wherein θ ═ M + Δ M/Kf，θ″＝(B+ΔB)/Kf，D＝F/Kf，u＝iqIs a control law of a servo system;
step 3.2: defining a tracking error as
e1＝dm-d (5)
In the formula dmA reference input for a location; d is the actual position of the rotor; the synchronization error σ is expressed as
σ＝C1ey1-C2ey2 (6)
In the formula, C1、C2Cross-coupling gain for two axes; therefore, when σ is 0, synchronous operation of the two shafts can be realized;
iterative learning control improves the tracking performance of the system when the system performs repetitive tasks, the method enables the system to learn errors at each iteration and uses this information to improve the performance of the system; the iterative learning control law is expressed as
uj+1＝L[uj(t)，σj(t)] (7)
In the formula, j is the iteration number; u. ofj(t) is the jth iterative learning control law; sigmajRepresenting the jth iteration error; l (-) is learning law; by adopting the self-adaptive PD type learning law, the cross-coupling control law of iterative learning is
Figure GDA0003015601360000045
In the formula, KPL、KDLTo gain learning; sigmaγtIs an exponential function; u. ofcj(t) learning a cross-coupling control law for the jth iteration; Ψ (σ)j) Is a non-linear function related to the error bound delta, expressed as
Figure GDA0003015601360000046
The following equations (8) and (9) show that: when sigma isjWhen larger, σγtSo that the error is converged quickly; when sigma isjWhen the output value is larger than delta, the iterative learning controller is a variable gain controller, and the control precision is improved by reducing the learning gain; when sigma isjWhen delta is less than or equal to ucj+1＝ucjThereby stopping the iterative learning controller from learning;
step 3.3: defining a filter error vector as a function of the tracking error in step 3.2
z＝[e1 e2 e3]T (10)
In the formula
Figure GDA0003015601360000051
In the formula, k1＞0，k2Feedback gain is more than 0; additional design freedom is obtained by introducing filtering errors, equation (11) replacing equation (4)
θ′(t)e3＝Ymθ(t)+S+D-u (12)
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000052
is a reference position vector; t is time; θ (t) ═ θ' (t) θ ″ (t)]TIs a system parameter vector; u is a single-axis servo system control law; s is the error of the kinetic equation between the reference model and the actual model and is expressed as
Figure GDA0003015601360000053
Therefore, a two-degree-of-freedom control structure is proposed according to equation (12), wherein the control law of the single axis of the servo system is
u＝u′+u″ (14)
Where u' is a model-based feed-forward control law that compensates for uncertainty in system parameter variations, expressed as
Figure GDA0003015601360000054
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000055
the estimated value of the system parameter vector is u' which is a feedback control law and ensures the robustness of the closed-loop system when the system has external disturbance and model uncertainty;
step 3.4: to ensure the continuity of the feedback control law u', the jerk control law
Figure GDA0003015601360000056
Should be bounded; thus, the formula (12) is derived
Figure GDA0003015601360000057
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000058
Figure GDA0003015601360000059
in the formula (I), the compound is shown in the specification,
Figure GDA00030156013600000510
is composed of
Figure GDA00030156013600000511
The first derivative of (a); n is a radical ofd(t) represents the first derivative of D; using gradient-based adaptive law pairs
Figure GDA00030156013600000512
The updating is carried out, and the updating is carried out,
Figure GDA00030156013600000513
estimating error vectors for system parameters；
Figure GDA00030156013600000514
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600000515
a transpose matrix that is a first derivative of the reference position vector; Γ is a normal number, and the feedforward control law u' obtained from equation (19) is
Figure GDA0003015601360000061
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000062
a transpose matrix that is a second derivative of the reference position vector; τ (0. ltoreq. τ. ltoreq.t) represents time;
step 3.5: design adaptive jerk control law
Figure GDA0003015601360000063
Is composed of
Figure GDA0003015601360000064
In the formula, alpha2Is a normal number;
Figure GDA0003015601360000065
for adaptive robust gain, beta2To fix the robust gain, an
Figure GDA0003015601360000066
β2Is greater than 0; the feedback control law u' is thus
Figure GDA0003015601360000067
In the formula, KsIs a normal number，E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)] (23)
To avoid high frequency resonances due to too large a robust gain,
Figure GDA0003015601360000068
is designed as
Figure GDA0003015601360000069
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600000610
k3is a normal number; order to
Figure GDA00030156013600000611
Converge to exponentially
Figure GDA00030156013600000612
Then
Figure GDA00030156013600000613
Is shown as
Figure GDA00030156013600000614
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600000615
is composed of
Figure GDA00030156013600000616
An initial value of (d); denotes convolution operation.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the device and the method for improving the synchronous control precision of the double-shaft direct-drive platform servo system provided by the invention utilize a cross-coupling iterative learning controller to realize the synchronous control of double shafts; the parameter uncertainty of the system is compensated through model feedforward control, and the response speed of the system is improved; then, an adaptive jerk controller is adopted to restrain uncertain factors such as external disturbance and friction force in the system, and an adaptive law enables a 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. Therefore, the positioning precision is improved, a stable control signal 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 the double-shaft direct-drive platform 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 an apparatus of a servo control system using a dual-axis direct-drive platform 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 diagram of the peripheral circuit connection of a DSP processor according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a level shift circuit of a DSP power supply according to an embodiment of the present invention;
FIG. 5 is a schematic circuit diagram of a Fault signal acquisition circuit according to an embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of a DSP crystal oscillator circuit according to an embodiment of the present invention;
FIG. 7 is a schematic circuit diagram of a JTAG interface circuit provided by an embodiment of the present invention;
FIG. 8 is a schematic circuit diagram of a DSP reset circuit according to an embodiment of the present invention;
FIG. 9 is a schematic circuit diagram of a current detection circuit according to an embodiment of the present invention;
FIG. 10 is a schematic circuit diagram of a position and velocity detection 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 the synchronization control accuracy of a dual-axis direct-drive platform servo system according to an embodiment of the present invention;
fig. 13 is an algorithm schematic diagram for improving the synchronization control precision of the dual-axis direct-drive platform servo system according to the embodiment of the present invention;
fig. 14 is a synchronization error curve diagram of a dual-axis direct-drive platform servo system based on a sliding mode controller according to an embodiment of the present invention;
fig. 15 is a synchronization error curve diagram of a dual-axis direct-drive platform servo system based on an adaptive accelerometer according to an embodiment of the present 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 improving the synchronous control precision of a double-shaft direct-drive platform servo system, which comprises a power module, a DSP processor module, a detection module, a first IPM isolation protection driving circuit, a second IPM isolation protection driving circuit, a double-shaft platform and an upper computer module, wherein the detection module is 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 rectification circuit is used as the input end of the whole control device and is used for receiving a signal of a final motion position of the permanent magnet linear synchronous motor given by a user, the input end of the rectification circuit is connected with a three-phase alternating current power supply and converts variable alternating current into stable direct current, and the output end of the rectification circuit is connected with the input end of the IPM inverter circuit; the IPM inverter circuit inverts direct current output by the rectifying circuit into alternating current, the output end of the IPM inverter circuit is connected with the double-shaft platform and supplies power for the permanent magnet linear synchronous motor, and a main circuit schematic diagram of the permanent magnet linear synchronous motor is shown in figure 2;
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 DSP processor module comprises a DSP processor and a peripheral circuit, a reference position signal and a permanent magnet linear synchronous motor position signal detected by a grating ruler are subjected to subtraction to obtain a tracking error of the permanent magnet linear synchronous motor, a cross-coupling iterative learning controller is utilized to solve the coupling problem of a double shaft, a filtering error vector is established according to the tracking error and is used as an input quantity of an adaptive acceleration controller, the parameter uncertainty of a 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 through acceleration control, then the robust gain is converged in a bounded range through an exponential type self-adaptive law, the robustness of the system is improved, the output signal of the adaptive acceleration controller is integrated to form a feedback control law of the system, and the continuity and the stability of the system are ensured, finally, calculating to obtain a control signal of the motor, generating a PWM signal, and performing servo driving on the two permanent magnet linear synchronous motors; a PWM port of the DSP 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. 3. The peripheral circuit of the DSP processor comprises a level conversion circuit, a Fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG interface circuit and a DSP reset circuit which are respectively shown in figures 4-8, wherein the level conversion circuit converts 5V power supply voltage into 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 interface 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 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 ADC input end of the DSP processor; the sensor is used for collecting rotor current of the permanent magnet linear synchronous motor through the Hall sensor and converting the collected current analog quantity into digital quantity which can be identified by the DSP processor.
As shown in fig. 9, the current detection circuit converts the three-phase rotor current of the permanent magnet synchronous motor into digital form through the sensor and then enters the DSP processor, and performs a series of conversions. 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. In this embodiment, an LTS25-NP sensor is used to detect current, an input end of the position and speed detection circuit is connected to an output end of the permanent magnet linear synchronous motor through the grating ruler, and an output end of the position and speed detection circuit is connected to an EQEP input end of the DSP processor, and is used to acquire a position and speed signal of a rotor of the permanent magnet linear synchronous motor through the grating ruler and convert the position and speed signal into a digital quantity that can be recognized by the DSP processor.
As shown in fig. 10, 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.
The first IPM isolation protection driving circuit and the second IPM isolation protection driving circuit are connected in parallel, the input end of the first IPM isolation protection driving circuit is connected with the PWM port of the DSP processor, and the output end of the first IPM isolation protection driving circuit is connected with the input end of the IPM inverter circuit; the IPM isolation driving protection circuit is used for photoelectric isolation and driving six IGBTs in the IPM inverter circuit to work. IPM protects the isolated driver circuit as shown in FIG. 11. And an IPM protection isolation driving circuit is used for replacing a power device as a power supply 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 double-shaft platform comprises a first permanent magnet synchronous motor and a second permanent magnet synchronous motor which are connected in parallel; the input end of the first permanent magnet synchronous motor is connected with the first IPM, the output end of the first permanent magnet synchronous motor is connected with the y1 axis grating ruler, the second permanent magnet synchronous motor is connected with the second IPM, and the output end of the second permanent magnet synchronous motor is connected with the y2 axis grating ruler;
the upper computer is written by using a control program written by C language through Code Composer Studio 6.1.3 software and stored in the upper computer, the control program firstly processes data acquired by a detection circuit, then inputs the acquired data and a reference instruction signal into a cross-coupled iterative learning controller by making a difference, establishes a filtering error vector as an input variable of an adaptive jerk controller, executes an adaptive jerk control algorithm, and finally connects and downloads the C language program taking the adaptive jerk control algorithm as a core to the DSP processor through an SCI serial bus and an SCI serial pin of the DSP processor to operate so as to drive a servo system to operate.
On the other hand, a method for improving the synchronous control precision of a dual-axis direct-drive platform servo system is realized by the device for improving the synchronous control precision of the dual-axis direct-drive platform servo system, 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 synchronous motor starts to move, 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; the pulse signals are sent to an orthogonal coding pulse input unit EQEP of a DSP processor, the resolution of an 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 pulse number of the 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 currents by using a Hall sensor, and determining the actual positions, speeds and currents of rotors of the two permanent magnet linear synchronous motors;
and step 3: calculating a tracking error and a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, solving the coupling problem of a double shaft by using a cross-coupling iterative learning controller, compensating the parameter uncertainty of a system by using model feedforward control, then inhibiting the external disturbance, the end effect and the nonlinear friction force of the system by using an adaptive jerk controller, converging the robust gain in a bounded range by using an exponential adaptive law, improving the robustness of the system, forming a feedback control law of the system after integrating the output signal of the adaptive jerk controller, and calculating to obtain a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor;
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; the permanent magnet linear synchronous motor adopts magnetic field orientation control, the magnetic pole axis of a permanent magnet is taken as a d axis, an electric angle which leads the d axis by 90 degrees is taken as a q axis, and a d-q coordinate system is established;
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 GDA0003015601360000101
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 GDA0003015601360000102
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure GDA0003015601360000103
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000104
the rotor acceleration is obtained;
Figure GDA0003015601360000105
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 GDA0003015601360000106
Wherein θ ═ M + Δ M/Kf，θ″＝(B+ΔB)/Kf，D＝F/Kf，u＝iqIs a control law of a servo system;
step 3.2: defining a tracking error as
e1＝dm-d (5)
In the formula dmA reference input for a location; d is the actual position of the rotor; the synchronization error σ is expressed as
σ＝C1ey1-C2ey2 (6)
In the formula, C1、C2Cross-coupling gain for two axes; therefore, when σ is 0, synchronous operation of the two shafts can be realized;
iterative learning control improves the tracking performance of the system when the system performs repetitive tasks, the method enables the system to learn errors at each iteration and uses this information to improve the performance of the system; the iterative learning control law is expressed as
uj+1＝L[uj(t)，σj(t)] (7)
In the formula, j is the iteration number; u. ofj(t) is the jth iterative learning control law; sigmajRepresenting the jth iteration error; l (-) is learning law; by adopting the self-adaptive PD type learning law, the cross-coupling control law of iterative learning is
Figure GDA0003015601360000111
In the formula, KPL、KDLTo gain learning; sigmaγtIs an exponential function; u. ofcj(t) learning a cross-coupling control law for the jth iteration; Ψ (σ)j) Is a non-linear function related to the error bound delta, expressed as
Figure GDA0003015601360000112
The following equations (8) and (9) show that: when sigma isjWhen larger, σγtSo that the error is converged quickly; when sigma isjWhen the output value is larger than delta, the iterative learning controller is a variable gain controller, and the control precision is improved by reducing the learning gain; when sigma isjWhen delta is less than or equal to ucj+1＝ucjThereby stopping the iterative learning controller from learning;
step 3.3: defining a filter error vector as a function of the tracking error in step 3.2
z＝[e1 e2 e3]T (10)
In the formula
Figure GDA0003015601360000113
In the formula, k1＞0，k2Feedback gain is more than 0; different from traditional robust control, additional design freedom can be obtained by introducing filtering error, and formula (11) is substituted for formula (4)
θ′(t)e3＝Ymθ(t)+S+D-u (12)
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000121
is a reference position vector; t is time; θ (t) ═ θ' (t) θ ″ (t)]TIs a system parameter vector; u is a single-axis servo system control law; s is the error of the kinetic equation between the reference model and the actual model and is expressed as
Figure GDA0003015601360000122
Therefore, a two-degree-of-freedom control structure is proposed according to equation (12), wherein the control law of the single axis of the servo system is
u＝u′+u″ (14)
Where u' is a model-based feed-forward control law that compensates for uncertainty in system parameter variations, expressed as
Figure GDA0003015601360000123
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000124
the estimated value of the system parameter vector is u' which is a feedback control law and ensures the robustness of the closed-loop system when the system has external disturbance and model uncertainty;
step 3.4: to ensure the continuity of the feedback control law u', the jerk control law
Figure GDA0003015601360000125
Should be bounded; thus, the formula (12) is derived
Figure GDA0003015601360000126
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000127
Figure GDA0003015601360000128
in the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000129
is composed of
Figure GDA00030156013600001210
The first derivative of (a); n is a radical ofd(t) represents the first derivative of D; using gradient-based adaptive law pairs
Figure GDA00030156013600001211
The updating is carried out, and the updating is carried out,
Figure GDA00030156013600001212
estimating an error vector for the system parameter;
Figure GDA00030156013600001213
in the formula (I), the compound is shown in the specification,
Figure GDA00030156013600001214
a transpose matrix that is a first derivative of the reference position vector; Γ is a normal number, and the feedforward control law u' obtained from equation (19) is
Figure GDA00030156013600001215
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600001216
a transpose matrix that is a second derivative of the reference position vector; τ (0. ltoreq. τ. ltoreq.t) represents time;
step 3.5: design adaptive jerk control law
Figure GDA00030156013600001217
Is composed of
Figure GDA00030156013600001218
In the formula, alpha2Is a normal number;
Figure GDA00030156013600001219
for adaptive robust gain，β2To fix the robust gain, an
Figure GDA00030156013600001220
β2Is greater than 0; the feedback control law u' is thus
Figure GDA0003015601360000131
In the formula, KsIs a normal number, E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)] (23)
To avoid high frequency resonances due to too large a robust gain,
Figure GDA0003015601360000132
is designed as
Figure GDA0003015601360000133
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000134
k3is a normal number; order to
Figure GDA0003015601360000135
Converge to exponentially
Figure GDA0003015601360000136
Then
Figure GDA0003015601360000137
Is shown as
Figure GDA0003015601360000138
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000139
is composed of
Figure GDA00030156013600001310
An initial value of (d); denotes a convolution operation;
because D belongs to C2From the median theorem
Figure GDA00030156013600001311
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600001312
because of the fact that
Figure GDA00030156013600001313
In succession, then
Figure GDA00030156013600001314
In the formula, rho is a non-negative decreasing function;
when in use
Figure GDA00030156013600001315
And beta is2When not less than 0, define
L1＝e3(Nd(t)-β1sgn(e2)) (28)
Figure GDA00030156013600001316
And is
Figure GDA00030156013600001317
Figure GDA00030156013600001318
In the formula (I), the compound is shown in the specification,
Figure GDA00030156013600001319
is a normal number; from formula (30) to formula (31)
Figure GDA00030156013600001320
Figure GDA00030156013600001321
Order to
Figure GDA0003015601360000141
Selecting a Lyapunov function
Figure GDA0003015601360000142
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000143
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 (36)
in the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000144
m＝inf(θ′)，
Figure GDA0003015601360000145
derivative V (y, t) to obtain
Figure GDA0003015601360000146
Substituting the formulae (11), (16), (19), (21), (32) and (33) for the formula (37) to obtain
Figure GDA0003015601360000147
Because of the fact that
Figure GDA0003015601360000148
By substituting formula (39) for formula (38) and combining formula (27) to give
Figure GDA0003015601360000151
In the formula (I), the compound is shown in the specification,
Figure GDA0003015601360000152
order to
Figure GDA0003015601360000153
Then
Figure GDA0003015601360000154
According to the Barbalat theorem, | | z | → 0 when t → ∞,
Figure GDA0003015601360000155
thereby ensuring the stability of the system.
And 4, step 4: the DSP processor generates 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, two permanent magnet linear synchronous motors are driven, the control of a double-shaft direct drive platform servo system is realized, then the servo processing system is driven, and the precise synchronous 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 Kfi50.7N/A, mover mass Mi6.6kg, coefficient of viscous friction Bi8.0N · s/m, permanent magnet flux linkage λPMi0.09Wb, pole pitch τi32 mm; and (3) adopting MATLAB for simulation.
According to the provided motor parameters and the design of the self-adaptive acceleration controller in the embodiment, the effect is optimal through MATLAB repeated debugging, and the parameters are selected as follows: k is a radical of1＝1.5，k2＝80，k3＝6.5，
Figure GDA0003015601360000156
β1＝3，β2＝0.6，Γ＝15，Ks75. A sine wave periodic motion instruction with the amplitude of 1mm and the frequency of 1Hz is input into the system.
A synchronization error curve of a dual-axis direct-drive platform servo system based on the sliding mode controller is shown in fig. 14, and a synchronization error curve of a dual-axis direct-drive platform servo system based on the adaptive jerk controller is shown in fig. 15. As can be seen from the simulation diagram, the tracking effect of the sliding mode control is poor, the synchronization error cannot be converged to zero, the maximum synchronization error generated by the sliding mode control is about 9.2 mu m, and the synchronization error is kept between-1.8 and 1.9 mu m in a steady state; the synchronous error generated by the self-adaptive acceleration controller is stable, the maximum synchronous error is about 1.4 mu m, and the synchronous error is kept between-0.5 and 0.5 mu m in a stable state, so that the self-adaptive acceleration controller generates a good control effect and the synchronous error is small.
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 synchronization error of the system, and the embodiment verifies the effectiveness of the control method.
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 (1)

1. The utility model provides an improve biax and directly drive device of platform servo synchronous control precision which characterized in that: the intelligent power supply module comprises a power supply module, a DSP processor module, a detection module, a first IPM isolation protection driving circuit, a second IPM isolation protection driving circuit, a dual-axis platform 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 dual-axis platform;
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 interface 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 first IPM isolation protection driving circuit and the second IPM isolation protection driving circuit are connected in parallel, the input end of the first IPM isolation protection driving circuit is connected with the PWM port of the DSP processor, and the output end of the first IPM isolation protection driving circuit is connected with the input end of the IPM inverter circuit;
the double-shaft platform comprises a first permanent magnet synchronous motor and a second permanent magnet synchronous motor which are connected in parallel, and the two shafts are respectively represented as y1 and y 2; the input end of the first permanent magnet synchronous motor is connected with the first IPM, the output end of the first permanent magnet synchronous motor is connected with the y1 axis grating ruler, the second permanent magnet synchronous motor is connected with the second IPM, and the output end of the second permanent magnet synchronous motor is connected with the y2 axis grating ruler;
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 performs difference input on the acquired data and a position reference instruction signal to a cross-coupling iterative learning controller, 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;
a method for improving the synchronous control precision of a double-shaft direct-drive platform servo system is realized by the device for improving the synchronous control precision of the double-shaft direct-drive platform servo system, 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 synchronous motor starts to move, 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; the pulse signals are sent to an orthogonal coding pulse input unit EQEP of a DSP processor, the resolution of an 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 pulse number of the 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 currents by using a Hall sensor, and determining the actual positions, speeds and currents of rotors of the two permanent magnet linear synchronous motors;
and step 3: calculating a tracking error and a filtering error vector in a DSP (digital signal processor) by utilizing the acquired position speed and current of a motor rotor, solving the coupling problem of a double shaft by using a cross-coupling iterative learning controller, compensating the parameter uncertainty of a system by using model feedforward control, then inhibiting the external disturbance, the end effect and the nonlinear friction force of the system by using an adaptive jerk controller, converging the robust gain in a bounded range by using an exponential adaptive law, improving the robustness of the system, forming a feedback control law of the system after integrating the output signal of the adaptive jerk controller, and calculating to obtain a control signal of a motor, namely the control current of a permanent magnet linear synchronous motor;
step 3.1: establishing an electromagnetic thrust equation and a mechanical motion equation of the permanent magnet linear synchronous motor; the permanent magnet linear synchronous motor adopts magnetic field orientation control, the magnetic pole axis of a permanent magnet is taken as a d axis, an electric angle which leads the d axis by 90 degrees is taken as a q axis, and a d-q coordinate system is established;
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 FDA0003015601350000021
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 FDA0003015601350000022
In the formula, KfIs the electromagnetic thrust coefficient;
the mechanical motion equation of the permanent magnet linear synchronous motor is
Figure FDA0003015601350000023
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000024
the rotor acceleration is obtained;
Figure FDA0003015601350000025
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 FDA0003015601350000031
Wherein θ ═ M + Δ M/Kf，θ″＝(B+ΔB)/Kf，D＝F/Kf，u＝iqAs a control law of the servo system, KfIs the electromagnetic thrust coefficient;
step 3.2: defining a tracking error as
e1＝dm-d (5)
In the formula dmA reference input for a location; d is the actual position of the rotor; the synchronization error σ is expressed as
σ＝C1ey1-C2ey2 (6)
In the formula, C1、C2Cross-coupling gain for two axes; therefore, when σ is 0, synchronous operation of the two shafts can be realized;
iterative learning control improves the tracking performance of the system when the system performs repetitive tasks, the method enables the system to learn errors at each iteration and uses this information to improve the performance of the system; the iterative learning control law is expressed as
uj+1＝L[uj(t)，σj(t)] (7)
In the formula, j is the iteration number; u. ofj(t) is the jth iterative learning control law; sigmajRepresenting the jth iteration error; l (-) is learning law; by adopting the self-adaptive PD type learning law, the cross-coupling control law of iterative learning is
Figure FDA0003015601350000032
In the formula, KPL、KDLTo gain learning; sigmaγtIs an exponential function; u. ofcj(t) learning a cross-coupling control law for the jth iteration; Ψ (σ)j) Is a non-linear function related to the error bound delta, expressed as
Figure FDA0003015601350000033
The following equations (8) and (9) show that: when sigma isjWhen larger, σγtSo that the error is converged quickly; when sigma isjWhen the output value is larger than delta, the iterative learning controller is a variable gain controller, and the control precision is improved by reducing the learning gain; when sigma isjWhen delta is less than or equal to ucj+1＝ucjThereby stopping the iterative learning controller from learning;
step 3.3: defining a filter error vector as a function of the tracking error in step 3.2
z＝[e1 e2 e3]T (10)
In the formula
Figure FDA0003015601350000041
In the formula, k1＞0，k2Feedback gain is more than 0; additional design freedom is obtained by introducing filtering errors, equation (11) replacing equation (4)
θ′(t)e3＝Ymθ(t)+S+D-u (12)
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000042
is a reference position vector; t is time; θ (t) ═ θ' (t) θ ″ (t)]TIs a system parameter vector; u is a single-axis servo system control law; s is the error of the kinetic equation between the reference model and the actual model and is expressed as
Figure FDA0003015601350000043
Therefore, a two-degree-of-freedom control structure is proposed according to equation (12), wherein the control law of the single axis of the servo system is
u＝u′+u″ (14)
Where u' is a model-based feed-forward control law that compensates for uncertainty in system parameter variations, expressed as
Figure FDA0003015601350000044
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000045
the estimated value of the system parameter vector is u' which is a feedback control law and ensures the robustness of the closed-loop system when the system has external disturbance and model uncertainty;
step 3.4: to ensure the continuity of the feedback control law u', the jerk control law
Figure FDA0003015601350000046
Should be bounded; thus, the formula (12) is derived
Figure FDA0003015601350000047
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000048
Figure FDA0003015601350000049
in the formula (I), the compound is shown in the specification,
Figure FDA00030156013500000410
is composed of
Figure FDA00030156013500000411
The first derivative of (a); n is a radical ofd(t) represents the first derivative of D; using gradient-based adaptive law pairs
Figure FDA00030156013500000412
The updating is carried out, and the updating is carried out,
Figure FDA00030156013500000413
estimating an error vector for the system parameter;
Figure FDA00030156013500000414
in the formula (I), the compound is shown in the specification,
Figure FDA00030156013500000415
a transpose matrix that is a first derivative of the reference position vector; Γ is a normal number, and the feedforward control law u' obtained from equation (19) is
Figure FDA00030156013500000416
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000051
a transpose matrix that is a second derivative of the reference position vector; τ (0. ltoreq. τ. ltoreq.t) represents time;
step 3.5: design adaptive jerk control law
Figure FDA0003015601350000052
Is composed of
Figure FDA0003015601350000053
In the formula, alpha2Is a normal number;
Figure FDA0003015601350000054
for adaptive robust gain, beta2To fix the robust gain, an
Figure FDA0003015601350000055
β2Is greater than 0; the feedback control law u' is thus
Figure FDA0003015601350000056
In the formula, KsIs positiveConstant, E0Error generated for initial conditions
E0＝-(Ks+1)[k2e1(0)+e2(0)] (23)
To avoid high frequency resonances due to too large a robust gain,
Figure FDA0003015601350000057
is designed as
Figure FDA0003015601350000058
In the formula (I), the compound is shown in the specification,
Figure FDA0003015601350000059
k3is a normal number; order to
Figure FDA00030156013500000510
Converge to exponentially
Figure FDA00030156013500000511
Then
Figure FDA00030156013500000512
Is shown as
Figure FDA00030156013500000513
In the formula (I), the compound is shown in the specification,
Figure FDA00030156013500000514
is composed of
Figure FDA00030156013500000515
An initial value of (d); denotes a convolution operation;
and 4, step 4: the DSP processor generates 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 into driving signals, three-phase alternating current is converted into stable direct current through the rectifying circuit and then 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 paths of PWM pulse signals generated by the DSP, three-phase alternating current for driving the permanent magnet linear synchronous motor is obtained, the control of a servo system of the permanent magnet linear synchronous motor is realized, a servo processing system is further driven, and the precision processing is realized.
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