基于生物智能环状耦合的嵌入式永磁同步直线电机高精度位置协同控制研究

Research on Position Cooperative Control of High-Precision Embedded Permanent Magnet Synchronous Linear Motor Based on Biological Intelligence Loop Coupling

基于永磁同步直线电机的多电机协同定位驱动系统,由于高推力密度比、响应快等特点,被广泛应用于各种高精密工业加工制造领域。针对集成永磁同步直线电机(IPMSLM)系统,借鉴生物领域激素调节原理,结合生物智能控制(BIC)与滑模变结构(SMVS)控制算法,提高IPMSLM系统中单电机的定位精度与鲁棒性。基于Lyapunov稳定性原理,设计环状耦合位置协同控制器,在确保全局稳定的同时,进一步提高IPMSLM整个系统的协同定位精度。在RT-Lab半实物仿真平台进行空载和变负载实验,结果表明,所设计的BIC-SMVS位置控制算法,使得单电机的定位精度达到±4μm;基于Lyapunov的环状耦合协同控制算法,可实现系统协同误差控制精度在±6μm以内。

The multi-motor coordinated positioning drive system based on permanent magnet synchronous linear motors is widely used in various high-precision industrial processing and manufacturing fields due to its high thrust density ratio and fast response.This article aims at the integrated permanent magnet synchronous linear motor(IPMSLM)system,draws on the principle of hormone regulation in the biological field,and combines biological intelligent control(BIC)with sliding mode variable structure(SMVS).The control algorithm improves the positioning accuracy and robustness of a single motor in the IPMSLM system.Based on the Lyapunov stability principle,the loop-coupled position cooperative controller is designed to further improve the coordinated positioning accuracy of the entire IPMSLM system while ensuring global stability.Through no-load and variable-load experiments on the RT-Lab semi-physical simulation platform,experimental results show that the position control strategy proposed in this paper can not only achieve high-precision tracking control of a single motor(±4μm),but also achieve a high-precision coordinated control of multiple motors(±6μm).