The Model-free Adaptive Composite Control Method for Permanent Magnet Linear Motor

The Model-free Adaptive Composite Control Method for Permanent Magnet Linear Motor

Rongmin Cao (Beijing Information Science and Technology University, Beijing, China), Su Zhong (Beijing Information Science and Technology University, Beijing, China) and Shizhen Liu (Beijing Information Science and Technology University, Beijing, China)
DOI: 10.4018/IJITN.2015040103


A composite control method based on the model-free adaptive control is applied to the position or speed control of the linear motor. The model-free adaptive controller (MFAC) broke through the classical PID controller design of linear framework, is a kind of new controller, it' structure is adaptive and a kind of integration of modeling and control method. The composite control method includes an adaptive feedforward compensator which is designed to eliminate or suppress the effects of inherent force ripple for a permanent magnet linear motor (PMLM). Simulation results show that compared with PID control, the proposed composite control algorithm is more effective for the strong coupling of nonlinear system and difficult to realize stable control. And the response performance of the system is realized.
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Mathematical Model

Friction (LLWW, 2008) is a complex nonlinear physical phenomena, result from a relative motion of the contact between interface, The existence of friction caused the sliding movement and the tracking error. As to the location accuracy requirement of the mechanical system constantly improve, how to eliminate the influence of friction in the largest extent has become a challenging job. Using the compensation technology based on friction model is a more effective method at present mechanical control field, so a correct and reasonable, simple and effective friction model that exist in the mechanical system must be established before. In this paper the Tustin friction model is selected. It can be expressed as:

(1) where denotes static friction; denotes the minimum value of Coulomb friction; and are lubricant and load parameters; and is an additional empirical parameter. Figure 1 graphically illustrates this friction model.

Figure 1.

The Tustin model

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