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与一般的回转电机相比,永磁直线电机在需要实现直线运动的应用中有定位精度高、速度快等优点,但是,直线电机对扰动和系统参数变化很敏感,而且由于摩擦力和推力脉动使系统具有明显的非线性。针对这些问题,提出了一种自适应控制器的设计方案,并给出该设计的永磁直线电机的数学模型。该方案用一个滑动模态的控制输入补偿摩擦力和推力脉动。理论分析和仿真实验结果表明,自适应控制器获得的最大误差小于10μm,其性能远远优于经典的PID控制器。
Compared with the general rotary motor, the permanent magnet linear motor has the advantages of high positioning accuracy and high speed in the applications requiring linear motion. However, the linear motor is sensitive to disturbance and system parameter changes, and due to friction and thrust pulsation Make the system have obvious nonlinearity. Aimed at these problems, a design scheme of adaptive controller is proposed and the mathematical model of the permanent magnet linear motor is given. The program compensates for friction and thrust pulsations with a sliding modal control input. Theoretical analysis and simulation results show that the maximum error obtained by the adaptive controller is less than 10μm, its performance is far superior to the classical PID controller.