CN116470799A - Model-free self-adaptive control method for permanent magnet linear synchronous motor - Google Patents
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
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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
- 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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
- 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 relates to a model-free self-adaptive control method of a permanent magnet linear synchronous motor, which comprises the following steps: measuring three-phase current and voltage of the permanent magnet linear synchronous motor, and further obtaining equivalent current and voltage under an alpha-beta coordinate system; calculating the thrust and flux linkage of the permanent magnet linear synchronous motor by using the equivalent current and voltage under the alpha-beta coordinate system; constructing a high-order model-free self-adaptive speed controller and calculating a thrust difference value and a flux linkage difference value; and inputting the thrust difference value and the flux linkage difference value into a flux linkage-thrust model-free self-adaptive controller to calculate to obtain d-q axis voltage, transforming to obtain voltage under an alpha-beta coordinate system, and finally generating SVPWM signals by the voltage to control an inverter to generate three-phase voltage to drive a permanent magnet synchronous linear motor to operate. The invention relates to a high-order model-free self-adaptive control method, which belongs to a data driving control method, optimizes the defects of low convergence speed and low error precision of a traditional PI controller, and improves the control precision of a permanent magnet linear synchronous motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a model-free self-adaptive control method for a permanent magnet linear synchronous motor.
Background
Along with the continuous enhancement of the mutual promotion and dependency relationship between cities and towns in China and the rapid expansion of urban core areas, the enhancement of the rapid, safe and comfortable traffic interconnection between the areas is more and more important, so that more requirements are put forward for the track traffic industry in China.
The traditional track traffic field still adopts the rotating electrical machines as draw gear, but traditional motor can't satisfy the track traffic and gathers the route complicacy, the remote requirement of stroke, and the rotating electrical machines pulls the physical adhesive force between the wheel track of use moreover, and speed, acceleration and climbing performance etc. of vehicle all can receive certain restriction. Permanent Magnet Linear Synchronous Motor (PMLSM) has been widely concerned and used in the field of rail transit because of its advantages of high power density, large thrust, high dynamic characteristics, large acceleration, etc. At present, a permanent magnet linear motor mostly adopts direct thrust control in the field of rail transit, is closed-loop control, and generally adopts a PI controller as an adjusting mode, but if the working condition is complex, the parameters need to be readjusted. However, most of modern control theory controls based on an ideal mathematical model, and fluctuation may occur when the influence of parameter time variation and the like occurs, so that the control system is unstable.
The invention patent number CN201810729163.1 discloses discrete time terminal sliding mode control based on equivalent control for a permanent magnet linear synchronous motor, and designs anti-interference performance of a disturbance compensation system. The controller disclosed by the technical scheme of the invention is based on a mathematical model of a linear motor and is designed to suppress nonlinear disturbance such as load disturbance by disturbance compensation. In the actual running process of the motor, the mathematical model of the motor can change along with the change of temperature and environment, so that the motor parameters used by the design controller are inaccurate, and the design disturbance compensation strategy can increase the complexity of algorithm and hardware implementation.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a model-free self-adaptive control method for a permanent magnet linear synchronous motor, and aims to solve the technical problem that a direct thrust control system of the permanent magnet linear synchronous motor is easy to be unstable due to nonlinear disturbance such as end effect, parameter time variation, load disturbance and the like.
The technical scheme of the invention is as follows:
a model-free self-adaptive control method for permanent magnet linear synchronous motor comprises the following steps,
s1: three-phase current i of permanent magnet linear synchronous motor a 、i b 、i c Three-phase voltage u a 、u b 、u c Clark transformation is carried out to obtain the equivalent under the alpha-beta coordinate systemCurrent i α 、i β And equivalent voltage u α 、u β ；
S2: using equivalent current i in the alpha-beta coordinate system α 、i β And equivalent voltage u α 、u β Calculating thrust fe and magnetic linkage psi of permanent magnet linear synchronous motor s ；
S3: constructing a high-order model-free self-adaptive speed controller, and using the high-order model-free self-adaptive speed controller to obtain a thrust reference value fe * And the step S2 is performed with the thrust fe to obtain a thrust difference delta fe, and a given magnetic linkage psi is obtained s * And the magnetic linkage psi calculated in the step S2 s The difference is made to obtain the flux linkage difference delta phi s ；
S4: the thrust difference delta fe and the flux linkage difference delta psi in the step S3 s Input to a flux linkage-thrust MIMO model-free self-adaptive controller to calculate d-q axis voltage u d 、u q Will u d 、u q The voltage u 'under the alpha-beta coordinate system is obtained through IPARK transformation' α 、u′ β By voltage u 'in alpha-beta coordinate system' α 、u′ β The generated SVPWM signal controls the inverter to generate three-phase voltage to drive the permanent magnet synchronous linear motor to operate.
Further, the step of constructing the high-order model-free adaptive speed controller in step S3 is that,
s301: constructing speed ring of permanent magnet linear synchronous motor direct thrust control discrete system
v(k+1)＝f(v(k),...,v(k-σ v ),fe(k),...,fe(k-σ fe ))
Wherein v (k+1) is the motor rotation speed at time k+1, fe (k) is the thrust of the motor at time k, wherein sigma v ，σ fe The value representing the moment of system input and output is a positive integer;
s302: establishing high-order compact-format dynamic linearization data model of direct thrust control speed ring of permanent magnet synchronous linear motor
Wherein Δv (k+1) =v (k+1) -v (k) is the output rotation speed variation of the permanent magnet linear synchronous motor from the moment k to the moment k+1; Δfe (k) =fe (k) -fe (k-1) is the thrust variation of the permanent magnet linear synchronous motor from time k-1 to time k;the pseudo partial derivative of the speed ring of the direct thrust control system of the permanent magnet linear synchronous motor;
s303: the built high-order model-free self-adaptive speed controller is that
Wherein the control law of the speed ring of the direct thrust control system is
Wherein λ is the weight factor in the control law, ρ 1 、ρ 2 For the step size factor in the control law,
the pseudo partial derivative estimation law of the control law summary is
Wherein mu 1 、μ 2 Weighting factors, η, for the partial derivative estimation law 1 、η 2 、η 3 、η 4 The step factor of the partial derivative estimation law is that m is the order of the partial derivative, and alpha and beta are weighting coefficients of the partial derivative.
Further, sigma v ，σ fe Equal to 1.
Further, in step S3, the high-order model-free adaptive speed controller calculates a thrust reference value fe * By a given speed v of input * And the speed v acquired by the motor is differenced to obtain a speed difference value Deltav, and the speed difference value Deltav is inputObtaining a thrust reference value fe by entering a high-order model-free self-adaptive speed controller * 。
Further, the flux linkage-thrust MIMO model-free adaptive controller in the step S4 is constructed by the following steps,
s401: construction of permanent magnet linear synchronous motor direct thrust control discrete system
y(k+1)＝f(y(k),...,y(k-σ y ),u(k),...,u(k-σ u ))
Wherein,,motor flux and thrust at time k+1 for y (k+1), and motor d-q axis voltage control input at time k for u (k), wherein σ y ，σ u The value representing the moment of system input and output is a positive integer;
s402: establishing a permanent magnet synchronous linear motor direct thrust control flux-thrust MIMO model-free self-adaptive controller compact dynamic linearization data model
Wherein,,for a pseudo partial derivative matrix of a flux linkage-thrust ring of a direct thrust control system of the permanent magnet linear synchronous motor, delta y (k+1) =y (k+1) -y (k) is a flux linkage-thrust variation of the permanent magnet linear synchronous motor from k time to k+1 time, delta u (k) =u (k) -u (k-1) is a d-q axis voltage control input variation of the permanent magnet linear synchronous motor from k-1 time to k time;
s403: the built flux linkage-thrust ring MIMO model-free self-adaptive controller is that
Wherein, the control law of the flux linkage-thrust ring of the direct thrust control system of the permanent magnet linear synchronous motor is that
Wherein lambda is the weight factor in the control law, ρ is the step factor in the control law
The partial derivative estimation law is:
where μ is the weighting factor of the partial derivative estimation law and η is the step size factor of the partial derivative estimation law.
Further, sigma y ，σ u Equal to 1.
Further, in step S1, the equivalent current i under the alpha-beta coordinate system is utilized α 、i β And equivalent voltage u α 、u β Calculating thrust fe and magnetic linkage psi of permanent magnet linear synchronous motor s The method of (1) is that
Compared with the prior art, the invention has the following advantages:
1. the model-free self-adaptive control method for the permanent magnet linear synchronous motor provided by the invention is a high-order model-free self-adaptive control method, belongs to a data driving control method, optimizes the defects of low convergence speed and low error precision of the traditional PI controller, and improves the control precision of the permanent magnet linear synchronous motor.
2. The invention provides a model-free self-adaptive control method for a permanent magnet linear synchronous motor, wherein a flux linkage-thrust MIMO model-free self-adaptive controller is formed by combining two PI controllers of a magnetic chain ring and a thrust ring into a flux linkage-thrust MIMO model-free self-adaptive controller so as to further improve the control performance of a direct thrust control system.
Drawings
FIG. 1 is a flow chart of a model-free adaptive control method of a permanent magnet linear synchronous motor of the invention;
FIG. 2 is a schematic block diagram of a model-free adaptive control method for a permanent magnet linear synchronous motor;
FIG. 3 is a block diagram of the internal logic of a model-free adaptive speed control and flux-linkage-thrust MIMO model-free adaptive controller;
fig. 4 is a graph of speed profile under load disturbance based on model-free adaptive control.
Detailed Description
The technical scheme of the invention is specifically described below with reference to the accompanying drawings.
The model-free self-adaptive control method of the permanent magnet linear synchronous motor shown in fig. 1 to 3 comprises the following steps,
s1: three-phase current i of permanent magnet linear synchronous motor a 、i b 、i c Three-phase voltage u a 、u b 、u c Clark transformation is carried out to obtain equivalent current i under an alpha-beta coordinate system α 、i β And equivalent voltage u α 、u β 。
S2: using equivalent current i in the alpha-beta coordinate system α 、i β And equivalent voltage u α 、u β Calculating thrust fe and magnetic linkage psi of permanent magnet linear synchronous motor s The specific calculation process is as follows.
Wherein p is n The pole pair number is motor pole pair number, and tau is motor pole pitch;
s3: constructing a high-order model-free self-adaptive speed controller, and calculating a thrust reference value fe by the high-order model-free self-adaptive speed controller * And the calculated thrust fe is differenced to obtain a thrust difference delta fe, and a given magnetic linkage psi is obtained s * And step (c)The flux linkage ψ calculated in step S2 s The difference is made to obtain the flux linkage difference delta phi s . The specific way to construct the high-order model-free adaptive speed controller here is as follows.
S301: constructing speed ring of permanent magnet linear synchronous motor direct thrust control discrete system
v(k+1)＝f(v(k),...,v(k-σ v ),fe(k),...,fe(k-σ fe ))
Wherein v (k+1) is the motor rotation speed at time k+1, fe (k) is the thrust of the motor at time k, wherein sigma v ，σ fe A value representing the moment of system input and output is a positive integer, sigma is taken v ，σ fe Equal to 1.
S302: establishing high-order compact-format dynamic linearization data model of direct thrust control speed ring of permanent magnet synchronous linear motor
Wherein Δv (k+1) =v (k+1) -v (k) is the output rotation speed variation of the permanent magnet linear synchronous motor from the moment k to the moment k+1; Δfe (k) =fe (k) -fe (k-1) is the thrust variation of the permanent magnet linear synchronous motor from time k-1 to time k;the pseudo partial derivative of the speed ring of the direct thrust control system of the permanent magnet linear synchronous motor is obtained.
S303: the built high-order model-free self-adaptive speed controller is that
Wherein, the control law of the speed ring of the direct thrust control system is that
Wherein λ is the weight factor in the control law, ρ 1 、ρ 2 For the step size factor in the control law,
the pseudo partial derivative estimation law of the control law summary is
Wherein mu 1 、μ 2 Weighting factors, η, for the partial derivative estimation law 1 、η 2 、η 3 、η 4 The step factor of the partial derivative estimation law is that m is the order of the partial derivative, and alpha and beta are weighting coefficients of the partial derivative.
After the high-order model-free self-adaptive speed controller is built, the speed controller can be used for calculating the thrust reference value fe * . Specifically, a given speed v is input * And the speed v acquired by the motor is differenced to obtain a speed difference value Deltav, and the speed difference value Deltav is input into a high-order model-free self-adaptive speed controller HMFAC shown in FIG. 2 to obtain a thrust reference value fe * 。
S4: the thrust difference delta fe and the flux linkage difference delta psi in the step S3 s Input to a flux linkage-thrust MIMO model-free self-adaptive controller to calculate d-q axis voltage u d 、u q Will u d 、u q The voltage u 'under the alpha-beta coordinate system is obtained through IPARK transformation' α 、u′ β By voltage u 'in alpha-beta coordinate system' α 、u′ β The generated SVPWM signal controls the inverter to generate three-phase voltage to drive the permanent magnet synchronous linear motor to operate.
In the step S4, the construction steps of the flux linkage-thrust MIMO model-free self-adaptive controller are as follows:
s401: construction of permanent magnet linear synchronous motor direct thrust control discrete system
y(k+1)＝f(y(k),...,y(k-σ y ),u(k),...,u(k-σ u ))
Wherein,,motor flux and thrust at time y (k+1) is k+1, u(k) For motor d-q axis voltage control input at time k, wherein sigma y ，σ u A value representing the moment of system input and output is a positive integer, sigma is taken y ，σ u Equal to 1.
S402: and establishing a direct thrust control flux linkage-thrust ring MIMO compact dynamic linearization data model of the permanent magnet synchronous linear motor.
For the strict data model, the following assumption is made for the direct thrust control system of the permanent magnet linear motor:
suppose 1: except for a limited time, f (..) in step S301 and step 401 is that the partial derivative with respect to the control input signal u (k) is present and continuous.
Suppose 2: the permanent magnet linear synchronous motor direct thrust control system is Lipschitz, that is, satisfies that for any time k and ||u (k) |not equal to 0 there are:
|Δy(k+1)|≤b|Δu(k)|
suppose 3: desired y for a given permanent magnet linear synchronous motor in a direct thrust control system * (k+1) there is always a finite u (k) which can make the permanent magnet linear synchronous motor control system to make the output of the system equal to y under the driving of the control input u (k) at the current moment * (k+1)。
For the direct thrust control system of the permanent magnet linear synchronous motor, when the three assumptions are satisfied, when |delta u (k) | is not equal to 0, a pseudo partial derivative is necessarily presentSo that
In the above-mentioned formula, the group of the compounds,for the pseudo partial derivative matrix of the flux-thrust ring of the direct thrust control system of the permanent magnet linear synchronous motor, delta y (k+1) =y (k+1) -y (k) is the flux-thrust variation of the permanent magnet linear synchronous motor from k moment to k+1 moment, delta u (k) =u (k) -u (k)-1) the d-q axis voltage control input variable quantity of the permanent magnet linear synchronous motor from time k-1 to time k, and b is the normal number.
S403: the built flux linkage-thrust ring MIMO model-free self-adaptive controller is.
The direct thrust control flux linkage-thrust ring control law of the permanent magnet linear synchronous motor is designed, and the following criterion functions are considered:
J(u(k))＝||y * (k+1)-y(k+1)|| 2 +λ||u(k)-u(k-1)|| 2
deriving u (k) and enabling the u (k) to be equal to zero, so as to obtain a direct thrust control flux linkage-thrust ring control law of the permanent magnet linear synchronous motor:
where λ is the weight factor in the control law and ρ is the step size factor in the control law.
Consider the following pseudo partial derivative estimation criterion function:
wherein the method comprises the steps ofEstimating a matrix for pseudo partial derivatives for +.>Derivation and equaling zero, an estimation algorithm of the pseudo partial derivative can be obtained:
the partial derivative estimation law is that,where μ is the weighting factor of the partial derivative estimation law and η is the step size factor of the partial derivative estimation law.
The formula v (k+1) =f (v (k),. The term v (k- σ.) at step S301 v ),fe(k),...,fe(k-σ fe ) Formula y (k+1) =f (y (k)) of step S401(k-σ y ),u(k),...,u(k-σ u ) F (..) is a generally nonlinear function, the determination of which can be made as follows.
The model-free self-adaptive control method for the permanent magnet linear synchronous motor can improve the disturbance rejection capability, the speed tracking performance and the system robustness of the permanent magnet linear synchronous motor, and achieve the purpose of reducing nonlinear disturbance in the motor operation process. Referring specifically to the speed profile under load disturbance based on the model-free adaptive control algorithm shown in fig. 4. The curve can be seen that when the permanent magnet linear synchronous motor is started under load and can converge to the expected speed through small overshoot, and when load disturbance is suddenly added in the running process, the model-free self-adaptive control algorithm shows strong robustness, and the speed curve can converge to the expected speed curve rapidly through 0.01s after the small overshoot.
Claims (7)
1. A model-free self-adaptive control method for permanent magnet linear synchronous motor comprises the following steps,
s1: three-phase current i of permanent magnet linear synchronous motor a 、i b 、i c Three-phase voltage u a 、u b 、u c Clark transformation is carried out to obtain equivalent current i under an alpha-beta coordinate system α 、i β And equivalent voltage u α 、u β ；
S2: using equivalent current i in the alpha-beta coordinate system α 、i β And equivalent voltage u α 、u β Calculating thrust fe and magnetic linkage psi of permanent magnet linear synchronous motor s ；
S3: constructing a high-order model-free self-adaptive speed controller, and calculating a thrust reference value fe by the high-order model-free self-adaptive speed controller * The thrust difference Δfe from the thrust fe will give the flux linkage ψ s * And the magnetic linkage psi calculated in the step S2 s The difference is made to obtain the flux linkage difference delta phi s ；
S4: the thrust difference delta fe and the flux linkage difference delta psi in the step S3 s Input to flux-thrust MIMO model-free adaptive controlThe d-q axis voltage u is calculated by the device d 、u q Will u d 、u q The voltage u 'under the alpha-beta coordinate system is obtained through IPARK transformation' α 、u′ β By voltage u 'in alpha-beta coordinate system' α 、u′ β The generated SVPWM signal controls the inverter to generate three-phase voltage to drive the permanent magnet synchronous linear motor to operate.
2. The model-free adaptive control method of a permanent magnet linear synchronous motor according to claim 1, wherein the step of constructing the high-order model-free adaptive speed controller in step S3 comprises the steps of:
s301: constructing speed ring of permanent magnet linear synchronous motor direct thrust control discrete system
v(k+1)＝f(v(k),...,v(k-σ v ),fe(k),...,fe(k-σ fe ))
Wherein v (k+1) is the motor rotation speed at time k+1, fe (k) is the thrust of the motor at time k, wherein sigma v ，σ fe The value representing the moment of system input and output is a positive integer;
s302: establishing high-order compact-format dynamic linearization data model of direct thrust control speed ring of permanent magnet synchronous linear motor
Wherein Δv (k+1) =v (k+1) -v (k) is the output rotation speed variation of the permanent magnet linear synchronous motor from the moment k to the moment k+1; Δfe (k) =fe (k) -fe (k-1) is the thrust variation of the permanent magnet linear synchronous motor from time k to time k-1;the pseudo partial derivative of the speed ring of the direct thrust control system of the permanent magnet linear synchronous motor;
s303: the built high-order model-free self-adaptive speed controller is that
Wherein, the control law of the speed ring of the direct thrust control system is that
Wherein λ is the weight factor in the control law, ρ 1 、ρ 2 For the step size factor in the control law,
the pseudo partial derivative estimation law of the control law summary is
Wherein mu 1 、μ 2 Weighting factors, η, for the partial derivative estimation law 1 、η 2 、η 3 、η 4 The step factor of the partial derivative estimation law is that m is the order of the partial derivative, and alpha and beta are weighting coefficients of the partial derivative.
3. The model-free adaptive control method for the permanent magnet linear synchronous motor according to claim 2, wherein: the sigma v ，σ fe Equal to 1.
4. The model-free adaptive control method of permanent magnet linear synchronous motor according to claim 1, wherein the higher-order model-free adaptive speed controller in step S3 calculates a thrust reference value fe * The method of (1) is as follows:
from a given speed v of input * And the speed v acquired by the motor is differenced to obtain a speed difference value Deltav, and the speed difference value Deltav is input into a high-order model-free self-adaptive speed controller to obtain a thrust reference value fe * 。
5. The model-free adaptive control method of permanent magnet linear synchronous motor according to claim 1, wherein the constructing step of the flux-thrust MIMO model-free adaptive controller in step S4 is as follows
S401: construction of permanent magnet linear synchronous motor direct thrust control discrete system
y(k+1)＝f(y(k),...,y(k-σ y ),u(k),...,u(k-σ u ))
Wherein,,motor flux and thrust at time k+1 for y (k+1), and motor d-q axis voltage control input at time k for u (k), wherein σ y ，σ u The value representing the moment of system input and output is a positive integer;
s402: establishing permanent magnet synchronous linear motor direct thrust control flux linkage-thrust ring MIMO tight format dynamic linearization data model
Wherein,,for a pseudo partial derivative matrix of a flux linkage-thrust ring of a direct thrust control system of the permanent magnet linear synchronous motor, delta y (k+1) =y (k+1) -y (k) is a flux linkage-thrust variation of the permanent magnet linear synchronous motor from k time to k+1 time, delta u (k) =u (k) -u (k-1) is a d-q axis voltage control input variation of the permanent magnet linear synchronous motor from k-1 time to k time;
s403: the built flux linkage-thrust ring MIMO model-free self-adaptive controller is that
Wherein, the control law of the flux linkage-thrust ring of the direct thrust control system of the permanent magnet linear synchronous motor is that
Wherein lambda is the weight factor in the control law, ρ is the step factor in the control law
The partial derivative estimation law is that,where μ is the weighting factor of the partial derivative estimation law and η is the step size factor of the partial derivative estimation law.
6. The model-free adaptive control method for the permanent magnet linear synchronous motor according to claim 5, wherein: the sigma y ，σ u Equal to 1.
7. The model-free adaptive control method of the permanent magnet linear synchronous motor according to claim 1, wherein,
in step S2, the equivalent current i under the alpha-beta coordinate system is utilized α 、i β And equivalent voltage u α 、u β Calculating thrust fe and magnetic linkage psi of permanent magnet linear synchronous motor s The method of (1) is that
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