Abstract：In practical permanent magnet synchronous linear motor (PMSLM) servo drive applications, uncertainties arising from time-varying payloads, such as mismatched inertia and nonlinear friction, can significantly degrade the tracking accuracy of the servo system. Traditional robust control techniques can enhance the servo performance of linear motors but often rely on the motor’s precise models and parameters. To diminish reliance on the motor system model, a model-free control approach grounded in the ultra-local model concept has been introduced in recent years. Nevertheless, the uncertainty estimation within the ultra-local model typically involves complex algebraic identification and observer methods, which are intricate and fail to account for the effects of estimation errors. This paper presents a model-free robust position control strategy predicated on nonlinear time delay estimation, streamlining the implementation process and enhancing its universality. Firstly, a dynamic order model for PMSLM is constructed on the foundation of the ultra-local concept. This model eliminates motor parameters and nonlinear terms in dynamic models, furnishing a framework for model-free control. Secondly, the terminal sliding mode attraction factor is introduced to design the expected nonlinear error dynamics, ensuring high-precision finite-time convergence of position tracking errors. Then, the uncertainty caused by payload changes is estimated online using the time-delay disturbance estimation technology, and feedforward is compensated to the control loop. Meanwhile, nonlinear damping terms are integrated to counteract the time-delay disturbance estimation error. Finally, the stability of the closed-loop controller is examined via Lyapunov theory, and guidelines for controller parameter selection are articulated. The simulation and experimental results of the position step response are 0.114 s and 0.202 s with the proposed method, 0.163 s and 0.392 s with the traditional proportional-derivative (PD) control, and 0.132 s and
王立俊, 赵吉文, 于子翔, 盘真保. 基于非线性时间延迟扰动估计的永磁同步直线电机无模型鲁棒位置跟踪控制[J]. 电工技术学报, 2024, 39(18): 5692-5704.
Wang Lijun, Zhao Jiwen, Yu Zixiang, Pan Zhenbao. Model-Free Robust Position Tracking Control of Permanent Magnet Synchronous Linear Motor Based on Nonlinear Time Delay Disturbance Estimation. Transactions of China Electrotechnical Society, 2024, 39(18): 5692-5704.
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