CN117176007A - Linear motor control system and linear motor device - Google Patents
Linear motor control system and linear motor device Download PDFInfo
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Abstract
The application relates to a linear motor control system and linear motor equipment, which are used for acquiring a state feedback signal of a target linear motor during operation through a state parameter acquisition device and transmitting the state feedback signal to a terminal sliding mode controller. And then the terminal sliding mode controller performs discrete time terminal sliding mode analysis by combining the obtained given control signal and the state feedback signal to obtain an actual control signal actually required by the current linear motor, and finally, the linear motor is controlled to operate by the actual control signal. Through the scheme, the operation of the linear motor is controlled by adopting the algorithm related to the sliding mode analysis of the discrete time terminal, so that the robustness of a closed loop system can be effectively improved, the closed loop system can be accurately and rapidly converged to the balance point, and the control performance is good.
Description
Technical Field
The application relates to the technical field of electrical engineering, in particular to a linear motor control system and linear motor equipment.
Background
With the wide popularization and deep application of new technology in manufacturing industry, a servo system is taken as a core component of a motion control system, and has important significance in the development of the modern technological field. Servo systems have found wide application in such fields as numerically controlled machine tools, such as positioning control, trajectory tracking, and machining control. In order to meet the requirements of modern servo systems on high speed and high precision, linear motors are widely used in servo systems as a key component for direct driving. The linear motor is characterized in that the electric energy is directly converted into mechanical energy without an intermediate transmission mechanism, so that the linear motor has the advantages of large thrust, high speed, high precision and the like, is widely applied to the fields of industrial production, automation equipment, medical appliances and the like,
however, in the related art, the servo control system of the linear motor is easily affected by many nonlinear factors, and the control performance is poor.
Disclosure of Invention
Based on this, it is necessary to provide a linear motor control system and a linear motor apparatus that can accurately and rapidly converge to a balance point with good control performance.
A linear motor control system comprising: the system comprises a target linear motor, a state parameter collector and a terminal sliding mode controller, wherein the state parameter collector is connected with the target linear motor and is used for collecting a state feedback signal in the running process of the target linear motor; the input end of the terminal sliding mode controller is connected with the state parameter collector, the output end of the terminal sliding mode controller is connected with the target linear motor and is used for acquiring a given control signal, receiving the state feedback signal, performing discrete time terminal sliding mode analysis according to the given control signal and the state feedback signal, obtaining an actual control signal and sending the actual control signal to the target linear motor.
According to the linear motor control system, the state feedback signals of the target linear motor during operation are collected through the state parameter collector and transmitted to the terminal sliding mode controller. And then the terminal sliding mode controller performs discrete time terminal sliding mode analysis by combining the obtained given control signal and the state feedback signal to obtain an actual control signal actually required by the current linear motor, and finally, the linear motor is controlled to operate by the actual control signal. Through the scheme, the operation of the linear motor is controlled by adopting the algorithm related to the sliding mode analysis of the discrete time terminal, so that the robustness of a closed loop system can be effectively improved, the closed loop system can be accurately and rapidly converged to the balance point, and the control performance is good.
In one embodiment, the terminal sliding mode controller comprises a position controller, a speed controller, a current controller and a power amplifier which are sequentially connected, wherein the position controller, the speed controller and the current controller are respectively connected with the state parameter collector, and the power amplifier is also connected with the target linear motor.
In one embodiment, the state parameter collector includes a current collector, a position collector and a speed collector, the current collector is connected with the current controller and the target linear motor, the position collector is connected with the position controller and the target linear motor, and the speed collector is connected with the speed controller and the target linear motor.
In one embodiment, the current collector is a hall current sensor, the speed collector is a hall speed sensor, and the position collector is an incremental grating sensor.
In one embodiment, the given control signal includes a given displacement signal, the position controller is configured to receive the given displacement signal, and a position feedback signal acquired by the position collector, and perform a discrete time terminal sliding mode analysis to obtain a given speed signal; the speed controller is used for receiving the given speed signal and the speed feedback signal acquired by the speed acquisition device, and performing PI analysis to obtain a given current signal; the current controller is used for receiving the given current signal and the current feedback signal acquired by the current collector, and performing PI analysis or PID analysis to obtain a voltage control signal; the power amplifier is used for modulating the voltage control signal to obtain an actual control signal.
In one embodiment, the position controller includes a first calculation unit, a first logic processing unit and a first driving signal processing unit which are sequentially connected, wherein the first calculation unit is further connected with the state parameter collector, and the first driving signal processing unit is further connected with the speed controller;
and/or, in one embodiment, the speed controller includes a second computing unit, a second logic processing unit and a second driving signal processing unit that are sequentially connected, where the second computing unit is further connected to the state parameter collector, and the second driving signal processing unit is further connected to the current controller;
and/or in one embodiment, the current controller includes a third computing unit, a third logic processing unit and a third driving signal processing unit that are sequentially connected, where the third computing unit is further connected to the state parameter collector, and the third driving signal processing unit is further connected to the power amplifier.
In one embodiment, the power amplifier comprises a rectifying circuit, a filtering circuit and an inverter circuit which are sequentially connected, wherein the rectifying circuit is further connected with the current controller, and the inverter circuit is further connected with the target linear motor.
In one embodiment, the linear motor control system further includes an interference compensation control device, an input end of the interference compensation control device is connected to an input end of the terminal sliding mode controller and an output end of the terminal sliding mode controller, and an output end of the interference compensation control device is connected to an input end of the terminal sliding mode controller.
In one embodiment, the interference compensation control device includes an interference compensation controller, a first inverse Z transform unit and a second inverse Z transform unit, where the first inverse Z transform unit is connected to the input end of the terminal sliding mode controller and the input end of the interference compensation controller, the second inverse Z transform unit is connected to the output end of the terminal sliding mode controller and the input end of the interference compensation controller, the input end of the interference compensation controller is further connected to the input end of the terminal sliding mode controller, and the output end of the interference compensation controller is connected to the input end of the terminal sliding mode controller.
A linear motor device comprises the linear motor control system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a linear motor control system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a linear motor control system according to another embodiment of the present application;
FIG. 3 is a schematic diagram of a linear motor control system according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a linear motor control system according to another embodiment of the present application.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a linear motor control system includes: the system comprises a target linear motor 11, a state parameter collector 13 and a terminal sliding mode controller 15, wherein the state parameter collector 13 is connected with the target linear motor 11 and is used for collecting a state feedback signal in the running process of the target linear motor 11; the input end of the terminal sliding mode controller 15 is connected with the state parameter collector 13, the output end is connected with the target linear motor 11, and the terminal sliding mode controller is used for acquiring a given control signal, receiving a state feedback signal, performing discrete time terminal sliding mode analysis according to the given control signal and the state feedback signal, acquiring an actual control signal and sending the actual control signal to the target linear motor 11.
Specifically, the state parameter collector 13 is a device for collecting parameters related to the operation state of the target linear motor 11. The target linear motor 11 is a linear motor that needs to perform discrete-time terminal sliding mode analysis by the terminal sliding mode controller 15 according to the embodiment of the present application, and thus realizes operation control. The terminal sliding mode controller 15 is a controller with a rapid terminal sliding mode control algorithm based on discrete time.
It should be noted that the specific type of state parameter collector 13 is not unique, and that state parameter collectors 13 may also differ in combination with the state parameters required for actual control. Likewise, the type of the target linear motor 11 is not limited only, and may be a permanent magnet linear motor, a linear induction motor, or the like, and is not particularly limited.
The terminal slipform controller 15 is only an effective tool for processing nonlinear perturbation, external interference and uncertain parameters, and can improve the robustness and interference suppression performance of the closed loop system. In practical application, more and more controllers are realized based on digital computers, and the continuous time control algorithm needs to be discretized firstly, so that various digital forms such as Euler discretization and a closed-loop system stability analysis method can be adopted for realizing discretization.
In the scheme of the embodiment of the application, two signals are input to the input end of the terminal sliding mode controller 15, one is a given control signal, namely a control signal expected to meet the operation requirement, and the other is a state feedback signal. After obtaining the given control signal and the state feedback signal, the terminal sliding mode controller 15 will analyze the given control signal and the state feedback signal in combination with a prestored discrete-time terminal sliding mode algorithm, and finally determine the actual control signal required by the target linear motor 11.
In the linear motor control system, the state feedback signal of the target linear motor 11 during operation is collected by the state parameter collector 13 and transmitted to the terminal sliding mode controller 15. And then the terminal sliding mode controller 15 performs discrete time terminal sliding mode analysis by combining the obtained given control signal and the state feedback signal to obtain an actual control signal actually required by the current linear motor, and finally, the linear motor is controlled to operate by the actual control signal. Through the scheme, the operation of the linear motor is controlled by adopting the algorithm related to the sliding mode analysis of the discrete time terminal, so that the robustness of a closed loop system can be effectively improved, the closed loop system can be accurately and rapidly converged to the balance point, and the control performance is good.
Referring to fig. 2, in one embodiment, the terminal sliding mode controller 15 includes a position controller 21, a speed controller 23, a current controller 25 and a power amplifier 27, which are sequentially connected, wherein the position controller 21, the speed controller 23 and the current controller 25 are respectively connected to the state parameter collector 13, and the power amplifier 27 is further connected to the target linear motor 11.
Specifically, in the embodiment of the present application, the linear motor control system includes three parts, namely, a current loop, a speed loop and a position loop, more specifically, an inner loop current loop is directly connected to the power amplifier 27, and an outer loop position loop is used for receiving a given control signal, wherein the speed loop is disposed between the position loop and the current loop. Through the coordinated control of the current loop, the speed loop and the position loop, an actual control signal is finally output to the target linear motor 11 by the power amplifier 27, so as to realize the linear motor control.
The linear motor control system provided by the embodiment of the application adopts a terminal sliding mode control technology, so that the system performance is improved. At the same time, closed loop control of position, speed and current is achieved, thereby providing high precision position servo control capability. The control system is suitable for the fields of industrial automation, medical equipment and the like, and provides an efficient and high-precision motion control solution for the fields.
With continued reference to fig. 2, in one embodiment, the state parameter collector 13 includes a current collector 26, a position collector 22, and a speed collector 24, where the current collector 26 is connected to the current controller 25 and the target linear motor 11, the position collector 22 is connected to the position controller 21 and the target linear motor 11, and the speed collector 24 is connected to the speed controller 23 and the target linear motor 11.
Specifically, the scheme of the present embodiment corresponds to the cooperative control of the current loop, the speed loop, and the position loop in the above embodiment, and the state parameter collector 13 includes a current collector 26, a position collector 22, and a speed collector 24. Wherein, the current collector 26 connects the current controller 25 and the target linear motor 11, thereby forming a current loop; the speed collector 24 connects the speed controller 23 and the target linear motor 11 to form a speed loop; the position collector 22 connects the position controller 21 and the target linear motor 11 to form a position loop.
More specifically, in one embodiment, the current collector 26 is connected to the armature winding of the linear motor, and is configured to collect the current in the armature winding of the linear motor and feed back to the current controller 25 in the terminal slipform controller 15, so as to implement current feedback closed-loop control. Meanwhile, the current collected by the current collector 26 may be used to perform a current protection function, that is, when the collected current exceeds a set threshold, the linear motor control system may trigger a protection mechanism, so that current protection may be achieved by one of the following ways:
(1) The output power is reduced, and the linear motor control system can reduce the output power of the linear motor by reducing the control signal, so that the current is reduced, and the current is prevented from exceeding a safety range; (2) Emergency stop, when the current exceeds the dangerous level, the linear motor control system can immediately control the linear motor to stop running so as to prevent the motor or other related equipment from being damaged; (3) In addition to taking emergency action, the linear motor control system may also issue an alarm to alert the operator to the presence of a current anomaly, thereby taking further action.
In the linear motor control system, the speed collector 24 is connected to the mover of the linear motor, and is used for collecting the speed of the mover of the linear motor and feeding back to the speed controller 23, so as to realize closed-loop control of speed feedback. The position collector 22 is also connected to the mover of the linear motor, and is used for collecting the actual position signal of the mover of the linear motor, and feeding back to the position controller 21, so as to realize closed-loop control of position feedback.
It should be noted that the specific types of current collector 26, speed collector 24, and position collector 22 are not unique, and in one embodiment, current collector 26 is a hall current sensor, speed collector 24 is a hall speed sensor, and position collector 22 is an incremental grating sensor.
Specifically, the scheme of the embodiment adopts a Hall current sensor as the current collector 26, a Hall speed sensor as the speed sensor and an incremental grating sensor as the position collector 22, thereby realizing accurate current, speed and displacement collection, improving the control reliability of a linear motor control system,
specifically, the hall current sensor is based on the magnetic balance hall principle, according to the hall effect principle, current is introduced from the control current end of the hall element, and a magnetic field with magnetic induction intensity is applied in the normal direction of the plane of the hall element, so that a potential is generated in the direction perpendicular to the current and the magnetic field (i.e. between the hall output ends), which is called hall potential, and the magnitude of the potential is proportional to the product of the control current and the magnetic induction intensity.
The Hall speed sensor is a Hall effect-based magneto sensor and has the characteristics of high sensitivity to magnetic fields, stable output signals, high frequency response, strong electromagnetic interference resistance, simple structure, convenience in use and the like. The sensor mainly comprises a permanent magnet with specific pole pairs, a Hall element, a rotating mechanism and an input/output plug-in unit, wherein the working principle is that when the rotating mechanism of the sensor rotates under the external driving action, the permanent magnet is driven to rotate, a magnetic field passing through the Hall element generates periodic change to cause the output voltage change of the Hall element, and a stable pulse voltage signal is formed through the subsequent circuit processing and is used as the output signal of the Hall sensor.
The measuring principle of the incremental grating is that when a light source is transmitted through two grating scales of a grating scale kinematic pair to relatively move, mole stripes can be formed, the mole stripes are counted and subdivided to obtain displacement variation in a period, the absolute position of the whole period is determined through a reference point set on the grating, a reference point is set in the incremental grating displacement measuring system, the reference point is marked as a zero position, and the absolute displacement is obtained through accumulation of relative displacement of the reference point. The absolute measurement value in the period is obtained after subdivision in one signal period, the relative measurement value of the relative reference point is obtained outside one signal period, and the final absolute displacement can be obtained by adding the absolute displacement in the period to the relative displacement outside the period.
In one embodiment, the given control signal includes a given displacement signal, the position controller 21 is configured to receive the given displacement signal, and the position feedback signal acquired by the position collector 22, and perform a sliding mode analysis of the discrete time terminal, so as to obtain a given speed signal; the speed controller 23 is configured to receive a given speed signal and a speed feedback signal acquired by the speed collector 24, and perform PI analysis to obtain a given current signal; the current controller 25 is configured to receive a given current signal and a current feedback signal collected by the current collector 26, and perform PI analysis or PID analysis to obtain a voltage control signal; the power amplifier 27 is used for modulating the voltage control signal to obtain the actual control signal.
Specifically, PI analysis, that is, proportional integral (Proportional Integral) analysis, can form a control deviation from a given value and an actual output value, and control a controlled object by linearly combining the proportional and integral of the deviation to form a control quantity. PID analysis, i.e., proportional integral derivative (proportional integral derivative) analysis, forms a control deviation from a given value and an actual output value, and controls a controlled object by linearly combining the deviation in proportion, integral and derivative to form a control quantity.
In the scheme of the embodiment, the current controller 25 is implemented by a PI or PID control algorithm, and works in the innermost loop of the servo system, and the current controller 25 is responsible for forming negative feedback control by a given current signal output by the speed controller 23 and a current feedback signal acquired by the current collector 26. The voltage control signal output by the current controller 25 passes through the power amplifier 27 to drive the permanent magnet synchronous linear motor.
The speed controller 23 operates on an intermediate speed loop of the servo system, and uses a PI control algorithm to process the difference obtained by comparing the speed given signal output from the position controller 21 with the speed feedback signal obtained by the speed collector 24 to obtain the input signal of the current controller 25.
The position controller 21 works on an outer ring position ring of the servo system, adopts a discrete time terminal sliding mode algorithm, and is responsible for comparing a given displacement signal with a position feedback signal acquired by the position acquisition device 22 to obtain a difference value, and processing the difference value to obtain an input signal of the speed controller 23.
It should be noted that the specific structure of each controller is not unique, and in one embodiment, the position controller 21 includes a first calculation unit, a first logic processing unit, and a first driving signal processing unit, which are sequentially connected, the first calculation unit is further connected to the state parameter collector 13, and the first driving signal processing unit is further connected to the speed controller 23.
And/or, in one embodiment, the speed controller 23 includes a second computing unit, a second logic processing unit, and a second driving signal processing unit that are sequentially connected, where the second computing unit is further connected to the state parameter collector 13, and the second driving signal processing unit is further connected to the current controller 25.
And/or, in one embodiment, the current controller 25 includes a third computing unit, a third logic processing unit, and a third driving signal processing unit that are sequentially connected, where the third computing unit is further connected to the state parameter collector 13, and the third driving signal processing unit is further connected to the power amplifier 27.
Specifically, in the scheme of the embodiment, the internal structures of the controllers are similar, each controller comprises a computing unit, a logic processing unit and a driving signal processing unit, and a current collector 26, a position collector 22 and a speed collector 24 in the state parameter collector 13 are responsible for isolating and processing high-current signals from motor armature windings, converting the high-current signals into smaller current signals, amplifying the smaller current signals and the like, and finally generating state feedback signals. The calculation unit receives the status feedback signals from the various parts (the first calculation unit receives the position feedback signal, the second calculation unit receives the speed feedback signal, and the third calculation unit receives the current feedback signal), and based on these status feedback signals and the input given signals, the analysis can be performed to generate the first control signals, respectively, and this part may specifically include the calculation and processing of position, speed and current information. The logic processing unit receives the first control signal, generates a first driving signal according to the control logic, and the driving signal unit further converts the first driving signal into appropriate voltage and current signals, and controls the on and off of the power amplifier 27 through a pulse width modulation technology, thereby controlling the motion of the linear motor.
It should be noted that the specific types of logic processing units, computing units, and driving signal processing units in the respective controllers described above are not unique, and in a more detailed embodiment, the logic processing units include an AD (Analog digital) conditioning circuit for converting an Analog signal into a digital signal, a sample-and-hold circuit, a quantization circuit, and a coding circuit, and the AD conditioning circuit implements digital processing of the signal.
The computing unit mainly comprises a DSP (digital signal processor, digital Signal Processing) and is responsible for the computation of a control algorithm, a closed loop of a servo control system (linear motor control system) is established through the computing unit, the closed loop control of a speed loop, a position loop and a current loop is realized, meanwhile, a data instruction is received, data processing and decoding are carried out, and the accurate control of the linear motor is realized.
It should be noted that the specific type of the power amplifier 27 is not exclusive, and in one embodiment, the power amplifier 27 includes a rectifying circuit, a filter circuit, and an inverter circuit connected in this order, the rectifying circuit being further connected to the current controller 25, and the inverter circuit being further connected to the target linear motor 11.
Specifically, the rectifier circuit firstly converts alternating current into direct current, then the filter circuit is adopted to filter the direct current, the inverter circuit is responsible for converting the direct current into alternating current appointed by current and voltage under the action of pulse width adjustment, and then the alternating current is sent to the armature winding of the linear motor, so that accurate tracking of the motor position of the linear motor is realized.
It should be noted that the specific type of filter circuit is not exclusive, and in a more detailed embodiment the filter circuit comprises a filter capacitor, i.e. the filter function is implemented using a filter capacitor.
Referring to fig. 3, in one embodiment, the linear motor control system further includes an interference compensation control device 31, wherein an input end of the interference compensation control device 31 is connected to an input end of the terminal sliding mode controller 15 and an output end of the terminal sliding mode controller 15, and an output end of the interference compensation control device 31 is connected to an input end of the terminal sliding mode controller 15.
Specifically, a first input end of the disturbance compensation control device 31 is connected to a first input end of the terminal sliding mode controller 15, a second input end of the disturbance compensation control device 31 is connected to an output end of the terminal sliding mode controller 15, and an output end of the disturbance compensation control device 31 is connected to a second input end of the terminal sliding mode controller 15. In order to cope with external disturbances, the application also introduces disturbance compensation control means 31 to improve the anti-disturbance performance of the system. The interference compensation control device 31 is built based on Lyapunov (Lyapunov stability theory), and compared with the conventional PID control, the control algorithm of the embodiment of the present application not only can improve the convergence speed and steady-state error of the closed-loop system, but also can significantly improve the anti-interference performance of the system.
Referring to fig. 4, in one embodiment, the interference compensation control device 31 includes an interference compensation controller 41, a first inverse Z transform unit 42 and a second inverse Z transform unit 43, wherein the first inverse Z transform unit 42 is connected to an input end of the terminal sliding mode controller 15 and an input end of the interference compensation controller 41, the second inverse Z transform unit 43 is connected to an output end of the terminal sliding mode controller 15 and an input end of the interference compensation controller 41, the input end of the interference compensation controller 41 is further connected to an input end of the terminal sliding mode controller 15, and an output end of the interference compensation controller 41 is connected to an input end of the terminal sliding mode controller 15.
It should be noted that the specific structure of the disturbance compensation control device 31 is not unique, and in a practical application scenario, the input terminal of the disturbance compensation controller 41 is connected to the input terminal and the output terminal of the terminal sliding mode controller 15. Therefore, the disturbance compensation controller 41 can receive the signal value obtained by the inverse Z-transform of the difference signal of the given displacement signal and the position feedback signal input to the position controller 21 in the terminal sliding mode controller 15. And the actual control signal (substantially an ac signal of a specified current and voltage) output from the power amplifier 27 in the terminal sliding mode controller 15, the signal value obtained by the inverse Z-transform. Finally, the disturbance compensation control device 31 performs disturbance compensation analysis by combining the two signal values after the inverse Z transformation and the difference signal of the given displacement signal and the position feedback signal, and finally outputs the compensation signal to the terminal sliding mode controller 15, and the terminal sliding mode controller 15 performs linear motor operation control by combining the compensation signal.
The embodiment of the application also provides linear motor equipment, which comprises the linear motor control system.
Specifically, as shown in the foregoing embodiments and the accompanying drawings, the linear motor apparatus may be a numerical control machine apparatus, a medical apparatus, or the like to which the above linear motor control system is applied, and is not particularly limited. In this scheme, a state feedback signal of the target linear motor 11 during operation is acquired by the state parameter acquisition unit 13 and transmitted to the terminal sliding mode controller 15. And then the terminal sliding mode controller 15 performs discrete time terminal sliding mode analysis by combining the obtained given control signal and the state feedback signal to obtain an actual control signal actually required by the current linear motor, and finally, the linear motor is controlled to operate by the actual control signal. Through the scheme, the operation of the linear motor is controlled by adopting the algorithm related to the sliding mode analysis of the discrete time terminal, so that the robustness of a closed loop system can be effectively improved, the closed loop system can be accurately and rapidly converged to the balance point, and the control performance is good.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A linear motor control system, comprising:
a target linear motor;
the state parameter collector is connected with the target linear motor and used for collecting a state feedback signal in the running process of the target linear motor;
and the input end of the terminal sliding mode controller is connected with the state parameter collector, the output end of the terminal sliding mode controller is connected with the target linear motor and is used for acquiring a given control signal, receiving the state feedback signal, performing discrete time terminal sliding mode analysis according to the given control signal and the state feedback signal, obtaining an actual control signal and sending the actual control signal to the target linear motor.
2. The linear motor control system of claim 1, wherein the terminal sliding mode controller comprises a position controller, a speed controller, a current controller and a power amplifier which are sequentially connected, wherein the position controller, the speed controller and the current controller are respectively connected with the state parameter collector, and the power amplifier is further connected with the target linear motor.
3. The linear motor control system of claim 2, wherein the state parameter collector comprises a current collector, a position collector, and a speed collector, the current collector being connected to the current controller and the target linear motor, the position collector being connected to the position controller and the target linear motor, the speed collector being connected to the speed controller and the target linear motor.
4. The linear motor control system of claim 3, wherein the current collector is a hall current sensor, the speed collector is a hall speed sensor, and the position collector is an incremental grating sensor.
5. The linear motor control system of claim 3 wherein the given control signal comprises a given displacement signal,
the position controller is used for receiving the given displacement signal and the position feedback signal acquired by the position acquisition device and performing discrete time terminal sliding mode analysis to obtain a given speed signal;
the speed controller is used for receiving the given speed signal and the speed feedback signal acquired by the speed acquisition device, and performing PI analysis to obtain a given current signal;
the current controller is used for receiving the given current signal and the current feedback signal acquired by the current collector, and performing PI analysis or PID analysis to obtain a voltage control signal;
the power amplifier is used for modulating the voltage control signal to obtain an actual control signal.
6. The linear motor control system of claim 2, wherein the position controller comprises a first computing unit, a first logic processing unit and a first drive signal processing unit connected in sequence, the first computing unit further connected with the state parameter collector, the first drive signal processing unit further connected with the speed controller;
and/or the speed controller comprises a second calculation unit, a second logic processing unit and a second driving signal processing unit which are sequentially connected, wherein the second calculation unit is also connected with the state parameter collector, and the second driving signal processing unit is also connected with the current controller;
and/or the current controller comprises a third calculation unit, a third logic processing unit and a third driving signal processing unit which are sequentially connected, wherein the third calculation unit is also connected with the state parameter collector, and the third driving signal processing unit is also connected with the power amplifier.
7. The linear motor control system of claim 2, wherein the power amplifier comprises a rectifying circuit, a filtering circuit, and an inverter circuit connected in sequence, the rectifying circuit further connected to the current controller, and the inverter circuit further connected to the target linear motor.
8. The linear motor control system of any of claims 1-7, further comprising an interference compensation control device, wherein an input of the interference compensation control device is connected to an input of the terminal sliding mode controller and an output of the terminal sliding mode controller, and wherein an output of the interference compensation control device is connected to an input of the terminal sliding mode controller.
9. The linear motor control system of claim 8, wherein the disturbance compensation control device comprises a disturbance compensation controller, a first inverse Z-transform unit, and a second inverse Z-transform unit, the first inverse Z-transform unit is connected to the input of the terminal sliding mode controller and the input of the disturbance compensation controller, the second inverse Z-transform unit is connected to the output of the terminal sliding mode controller and the input of the disturbance compensation controller, the input of the disturbance compensation controller is further connected to the input of the terminal sliding mode controller, and the output of the disturbance compensation controller is connected to the input of the terminal sliding mode controller.
10. Linear motor apparatus comprising a linear motor control system according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311119144.4A CN117176007A (en) | 2023-08-31 | 2023-08-31 | Linear motor control system and linear motor device |
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| CN117200536B (en) * | 2023-11-07 | 2024-01-16 | 深圳市艾姆克斯科技有限公司 | Linear motor and control method thereof |
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