为了解决定子分段式永磁直线同步电机(PMLSM)存在的因磁阻效应、负载阻力、摩擦力、参数摄动以及动子进出定子时耦合面积变化所造成的控制性能下降的难题, 根据动子和定子的耦合状态, 提出一种在完全耦合阶段和动子退出定子阶段的分段式控制方法。首先, 在动子与定子完全耦合阶段采用改进滑模控制器减小推力波动导致的速度波动, 再通过加入扰动观测器降低滑模切换项所带来的抖振现象; 在动子退出定子阶段, 建立相关电磁参数与动子位置的函数关系, 实时补偿由耦合面积变化引起的动子失速, 使动子速度在退出时接近给定值。仿真及实验结果表明: 动定子完全耦合过程中的速度稳态误差为0.005 m/s, 收敛时间为0.3 s, 动子退出定子阶段的速度波动不超过0.04 m/s, 满足定子分段式PMLSM用于长行程自动运输系统对平稳性及快速性的需求。

In a Permanent Magnet Linear Synchronous Motor (PMLSM) with segmented stators, when the mover enters and exits the stator, the control performance was degraded due to the detent force, load disturbance, frictional force, parameter perturbations, and coupling area variations. To address this drawback, a switching control method was proposed. First, an improved Sliding Mode Control (SMC) was used to reduce the speed ripple during the complete coupling stage of the mover and the stator.Then, the chattering caused by the SMC was reduced by the Disturbance Observer (DOB). When the mover exits the stator, thefunction relationships between the electromagnetic parameters and the position of the mover were established to compensate for the speed loss caused by the variation of the coupling area in real time. The results from thesimulation and experiments indicate that the speed ripple is decreased to 0.005 m/s and the setting time is less than 0.3 s in the complete coupling stage.The speed loss is reduced to 0.04 m/s when the mover exits the stator, thereby satisfying the requirements for stability and rapidity of the system.