无铁心管状永磁直线电机多分辨率鲁棒性模型预测推力控制

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关键词：无铁心管状直线电机;永磁电机;多分辨率;磁链预测模型;模型预测推力控制;超螺旋滑模

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DOI：10.15938/j. emc. 2025.06.011

中图分类号：TM359.4 文献标志码：A 文章编号：1007-449X（2025）06-0101-12

Multi-resolution robust model predictive thrust-force control for ironless tubular permanent magnet linear motor

XU Lei 1 ， CHEN Nan’， ZHU Xiaoyong'， FAN Zhixiang'， ZHANG Chao’， MENG Shenglong²（1.School of Electrical and Information Engineering，Jiangsu University， Zhenjiang 212013，China;2.Jiangyin Jinxiu Jiangnan Environmental Development Co.，Ltd.，Wuxi 2144OO，China）

Abstract：A multi-resolution robust model predictive thrust control strategy was proposed to address thrust and speed pulsations induced by disturbances including current harmonics and variable friction forces in ironless tubular permanent magnet synchronous linear（IT-PMSL） motors. First，considering the influence of variable friction，the mathematical model of the IT-PMSL motor was derived，and the influence law of position-speed-back electromotive force distortion of the motor was analyzed. On this basis，a super-twisting sliding mode adaptive law was introduced to build a multi-resolution flux linkage prediction model，which calculates the permanent magnet flux linkage values of the IT-PMSL motor at different speeds and positions. This improves the speed and accuracy of flux linkage calculation，effectively reduces the computational burden of the control system，and thus realizes the online prediction of flux linkage and thrust. Then，the load angle was used to construct a weight coeficient-free cost function，avoiding the influence of the cost function and effctively improving the robustness of model predictive thrust control.Finally，the drive control system of the IT-PMSL motor was built，and effectiveness of the proposed multi-resolution model predictive thrust control was verified through simulations and experiments. Keywords：ironless tubular linear motor；permanent magnet motor；multiple resolution； flux prediction model； model prediction thrust control; super-twisting sliding mode adaptive law

0引言

无铁心管状永磁同步直线（ironlesstubular per-manent magnet synchronous linear，IT-PMSL）电机由于具有零齿槽效应、无横向端部效应、无单边磁拉力等优点，在往复伺服系统、高端制造等领域具有广泛应用前景[1-3]。（剩余16786字）