Adaptive Nonlinear Speed Tracking Control of Permanent Magnet Linear Synchronous Motor

Abstract

Aiming at the problem that the permanent magnet linear synchronous motor servo system is easily affected by uncertainties such as parameter perturbation, friction and load disturbance, an adaptive nonlinear speed tracking control strategy based on immersion and invariance theory is proposed in this paper. In the control strategy, the first-order dynamic system is taken as the target mode. By establishing the mapping relationship between the kinematic equation and the target system, a nonlinear controller suitable for speed tracking is designed by using the immersion and invariance theory. At the same time, an adaptive law based on the immersion and invariance theory is designed for the time-varying external load disturbance in the servo system, so that the adaptive parameters in the controller can asymptotically track the external load disturbance. By Lyapunov stability theory, it is proved that the closed-loop control system is globally uniformly asymptotically stable at the equilibrium point. Finally, the feasibility of the proposed control method is verified by experiments, and the dynamic performance and robustness of the system can be effectively improved.