Control of ironless permanent magnet linear synchronous motor using fast terminal sliding mode control with iterative learning control

In this paper, a novel controller is proposed to improve the trajectory tracking performance of a direct drive ironless permanent magnet linear synchronous motor (ILPMLSM). The proposed control scheme combines fast terminal sliding mode control scheme with iterative learning control. Specifically, the fast terminal sliding mode controller which can predefine the finite reaching time is used as the primary controller to handle the effect of parametric uncertainties, unknown nonlinearities and external disturbances. A PD type iterative learning controller is employed as the secondary controller to eliminate the periodic tracking errors. Computer simulation results illustrate that the proposed combined controller can achieve better tracking performance and robustness compared with other control algorithms such as PID control, sliding mode control, and the iterative learning control.

[1]  B. Yao,et al.  Adaptive robust motion control of linear motors for precision manufacturing , 1999 .

[2]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[3]  Xinghuo Yu,et al.  Robust global terminal sliding mode control of SISO nonlinear uncertain systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[4]  Vadim I. Utkin,et al.  A control engineer's guide to sliding mode control , 1999, IEEE Trans. Control. Syst. Technol..

[5]  Kok Kiong Tan,et al.  Adaptive feedforward compensation of force ripples in linear motors , 2005 .

[6]  I. Boldea,et al.  Linear Electric Motors: Theory, Design and Practical Applications , 1987 .

[7]  Jia Peifa.  ADAPTIVE-LEARNING CONTROL FOR PERMANENT-MAGNET LINEAR SYNCHRONOUS MOTORS , 2005 .

[8]  Kok Kiong Tan,et al.  Micro-positioning of linear piezoelectric motors based on a learning nonlinear PID controller , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[9]  Rui Yan,et al.  On Repetitive Learning Control for Periodic Tracking Tasks , 2006, IEEE Transactions on Automatic Control.

[10]  S.K. Panda,et al.  Position tracking performance enhancement of linear ultrasonic motor using iterative learning control , 2004, 2004 IEEE 35th Annual Power Electronics Specialists Conference (IEEE Cat. No.04CH37551).

[11]  Xinghuo Yu,et al.  Nonsingular terminal sliding mode control of a class of nonlinear dynamical systems , 2002 .

[12]  Li Xu,et al.  Adaptive robust precision motion control of linear motors with ripple force compensations: theory and experiments , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[13]  S.K. Panda,et al.  Iterative learning control based direct instantaneous torque control of switched reluctance motors , 2004, 2004 IEEE 35th Annual Power Electronics Specialists Conference (IEEE Cat. No.04CH37551).

[14]  Jacek F. Gieras,et al.  Linear Synchronous Motors : Transportation and Automation Systems , 1999 .

[15]  T. Tsuji,et al.  Terminal sliding mode control of second‐order nonlinear uncertain systems , 1999 .

[16]  Xinghuo Yu,et al.  Fast terminal sliding-mode control design for nonlinear dynamical systems , 2002 .

[17]  Tsu-Chin Tsao,et al.  Control of Linear Motors for Machine Tool Feed Drives: Design and Implementation of H∞ Optimal Feedback Control , 1996 .

[18]  Richard W. Longman,et al.  Iterative learning control and repetitive control for engineering practice , 2000 .

[19]  Ya-Jun Pan,et al.  Improved PMSM pulsating torque minimization with iterative learning and sliding mode observer , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[20]  Sanjib Kumar Panda,et al.  Iterative learning based torque controller for switched reluctance motors , 2003, IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468).