H-Shaped Multiple Linear Motor Drive Platform Control System Design Based on an Inverse System Method
Abstract
:1. Introduction
2. An H-Type Platform Driven by Multiple Permanent Magnet Synchronous Linear Motors
2.1. Platform Structure
2.2. Mechanical Analysis
3. Pre-Analysis for Permanent Magnet Synchronous Linear Motor Control System
3.1. ABC Coordinate System to d-q Coordinate System
3.2. Mathematical Model
3.3. PID Controller
4. Inverse System Model and Control System Design
4.1. Inverse System Decoupling
4.1.1. Inverse System Theory
4.1.2. Inverse System Condition
- At (x0, u0), the following equation is satisfied:
- The r × m order matrix shown as follows is nonsingular, which indicates the rank of the matrix .
4.2. H-Shaped Platform State Equation
4.3. Decoupling Design
4.4. Control System Structure
5. Simulation and Analysis
5.1. Synchronous Deviation Analysis
5.2. H-Platform Trajectory Analysis
5.3. System Real-Time Performance Validation
6. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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Parameter | Value | Unit |
---|---|---|
Pole pitch τ | 16 | Mm |
Flux of permanent magnet ψf | 0.211 | Wb |
Winding resistance of each phase R | 2.1 | Ω |
Air gap h | 1 | Mm |
q-axis inductance Lq | 0.0163 | H |
d-axis inductance Lq | 0.0163 | H |
Mass of mover | 0.6 | Kg |
Rotational inertia J | 0.382 | kg·m2 |
force arm in Y direction l | 0.42 | M |
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Qin, C.; Zhang, C.; Lu, H. H-Shaped Multiple Linear Motor Drive Platform Control System Design Based on an Inverse System Method. Energies 2017, 10, 1990. https://doi.org/10.3390/en10121990
Qin C, Zhang C, Lu H. H-Shaped Multiple Linear Motor Drive Platform Control System Design Based on an Inverse System Method. Energies. 2017; 10(12):1990. https://doi.org/10.3390/en10121990
Chicago/Turabian StyleQin, Caiyan, Chaoning Zhang, and Haiyan Lu. 2017. "H-Shaped Multiple Linear Motor Drive Platform Control System Design Based on an Inverse System Method" Energies 10, no. 12: 1990. https://doi.org/10.3390/en10121990
APA StyleQin, C., Zhang, C., & Lu, H. (2017). H-Shaped Multiple Linear Motor Drive Platform Control System Design Based on an Inverse System Method. Energies, 10(12), 1990. https://doi.org/10.3390/en10121990