关键词: 永磁同步直线电机, 双质量系统, 机械共振, 状态反馈控制, 频率响应

Abstract: As the permanent magnet synchronous linear motor ( PMSLM) drives the load directly, the mathematical modeling of the drive system is difficult, and the resonance phenomenon is prominent in some cases, which leads to the difficulty of manual optimal setting of the parameters of the speed closed-loop controller. To adress the issue, selftuning method of velocity loop was proposed. In order to describe the resonance phenomenon of individual frequency points, a virtual double mass model was proposed, and the parameters of the double mass model were identified by combining q-axis current-velocity frequency response data and complex vector fitting algorithm. Based on the dynamic velocity, elastic force, load end velocity and dynamic velocity error integral, the state feedback control strategy of velocity closed-loop was constructed, and the feedback coefficient was configured according to the principle of resonance suppression and second-order critical damping. The experimental results show that the actuator speed can track the given value quickly without overshoot, and the mechanical resonance can be effectively suppressed, realizing the self-tuning of the velocity loop.

Key words: permanent magnet synchronous linear motor( PMSLM), double mass system, mechanical resonance, state feedback control, frequency response