Nonlinear Decoupling Sliding Mode Control of Permanent Magnet Linear Synchronous Motor Based on α-th Order Inverse System Method

AbstractIn this paper, a nonlinear dynamic decoupling controller is proposed for the permanent magnet linear synchronous motor (PMLSM) servo system to improve dynamic operating performance. Firstly, the reversibility of the PMLSM mathematical model is analyzed, and it is proved that the system is reversible. Then an inverse system method is applied to the PMLSM servo system, and it is decoupled into a linear velocity subsystem and a linear current subsystem based on the α-th order inverse system method. Considering the both ideal linear subsystems are sensitive to parameter disturbances and various disturbances, a variable rate reaching law approach based subsystem sliding mode controller for higher system stability and robustness is proposed. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control method

Characteristics and Optimization of a PMLSM for HTS Magnetic Suspension Propulsion System

¾Permanent magnet (PM) linear synchronous motors (PMLSMs) can be integrated with a high temperature superconducting (HTS) magnetic suspension system to be used in such as electromagnetic aircraft launcher and maglev transportation which have a levitated object moving on a long linear track. This paper presents the design and electromagnetic characteristic analysis of a long-primary single-sided PMLSM for a HTS bulk-PM guideway repulsion magnetic suspension propulsion system. Based on the characteristics and performance analysis of the PMLSM, a new type of HTS suspension propulsion system driven by a double-sided PMLSM with an optimal PM structure is then proposed. The running characteristics of the linear propulsion systems are studied through finite element analysis (FEA) with comprehensive performance results obtained for practical development

HTS levitation and transportation with linear motor control

High temperature superconductor (HTS) bulk can produce strong levitation force and has attracted strong interest of application in maglev transportation systems, to which a linear motion drive has advantages to be incorporated. This paper presents the design and performance analysis of a linear synchronous motor drive for a levitated object by HTS bulks. The analysis results show that the developed linear motor scheme can effectively drive and control the HTS levitated transporter

Model of a Permanent Magnet Synchronous Linear Motor for an Urban Transport Electric Vehicle

Proceeding of: EMS 2015 (2015 IEEE European Modelling Symposium): UKSim-AMSS 9th IEEE European Modelling Symposium on Computer Modelling and Simulation, Madrid, Spain, 6-8 October 2015Also available in: International Journal of Simulation Systems, Science & Technology (IJSSST), (2016), 17(33), pp. 5.1-5.7This work proposes a new linear motor for an electric bus propulsion system. The vehicle is powered by a new topology of permanent magnet synchronous linear motor. The slider of the motor is integrally attached to the floor of the vehicle to propel. The motor is fed with an alternating voltage conveniently applied to a three-phased stator coils which are distributed in the rails that attach the vehicle travel. Therefore, the motor requires no energy storage system. A set of permanent magnets located on the slider and disposed in Hal Bach array, maximize thrust force. The new slider topology is able to reduce the thrust ripple, while maintaining its average value. At the same time it reduces the normal force, which in this type of motor with ferromagnetic slotted stator, is an attraction force. The study of the dynamic behavior of electromagnetic forces concerning the movement of the slider on the stator is shown as well as the motor structural design. A 3D Finite Element simulation tool is used.Publicad

Flatness‑Based Control in Successive Loops of an H‑Type Gantry Crane with Dual PMLSM

Purpose In this article, the feedback control and stabilization problem of dual PMLSM-driven H-type gantry cranes is treated with the use of a fatness-based control method which is implemented in successive loops. Dual-drive gantry cranes can achieve high torque and high precision in the tasks’ execution. Such a type of crane can be used in several industrial applications. The solution to the associated nonlinear control problem is a particularly challenging research objective. Methods The integrated system that comprises the H-type gantry crane and two PMLSMs is shown to be diferentially fat. The control problem for this robotic system is solved with the use of a fatness-based control approach which is implemented in successive loops. To apply the multi-loop fatness-based control scheme, the state-space model of the H-type gantry crane with dual PMLSM is separated into subsystems, which are connected in cascading loops. Results For each subsystem, control can be performed with inversion of its dynamics as in the case of input–output linearized fat systems. The state variables of the preceding (ith) subsystem become virtual control inputs for the subsequent (i+1)th subsystem. In turn, exogenous control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. Conclusion A novel nonlinear optimal control method has been developed for the dynamic model of a dual PMLSM-driven gantry crane. The proposed method achieves stabilization of the H-type gantry crane with dual PMLSM without the need for difeomorphisms and complicated state-space model transformations. Using the local diferential fatness properties of each one of the subsystems that constitute the gantry crane's model, the design of a stabilizing feedback controller is enabled.This research work has been partially supported by Grant Ref. 301022 ’Nonlinear optimal and fatness-based control methods for complex dynamical systems’ of the Unit of Industrial Automation of the Industrial Systems Institute. Besides, the authors, Pierluigi Siano and Mohammed Al-Numay acknowledge fnancial support from the Researchers Supporting Project Number (RSP2023R150), King Saud University, Riyadh, Saudi Arabia

STUDY ON LINEAR SYNCHRONOUS MOTOR DESIGN FOR OIL PALM CUTTER （オイルパームカッター用リニア同期モータ設計に関する研究）

信州大学(Shinshu university)博士（工学）ThesisFAIRUL AZHAR BIN ABDUL SHUKOR. STUDY ON LINEAR SYNCHRONOUS MOTOR DESIGN FOR OIL PALM CUTTER （オイルパームカッター用リニア同期モータ設計に関する研究）. 信州大学, 2015, 博士論文. 博士（工学）, 甲第632号, 平成27年3月20日授与.doctoral thesi

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds

High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of the friction uncertainty. In contrast to most of the reported works considering the servos operating at high speeds, this paper focuses on low speeds in which the friction stemmed deteriorations become more obvious. In this paper firstly, a servo model involving the Stribeck friction dynamics is formulated, and the unknown friction parameters are identified by a genetic algorithm from the offline data. Then, a feedforward controller is designed to inject the friction information into the loop and eliminate it before causing performance degradations. Since the friction is a kind of disturbance and leads to uncertainties having time-varying characters, an Adaptive Proportional Derivative (APD) type Iterative Learning Controller (ILC) named as the APD-ILC is designed to mitigate the friction effects. Finally, the proposed control approach is simulated in MATLAB/Simulink environment and it is compared with the conventional Proportional Integral Derivative (PID) controller, Proportional ILC (P-ILC), and Proportional Derivative ILC (PD-ILC) algorithms. The results confirm that the proposed APD-ILC significantly lessens the effects of the friction and thus noticeably improves the control performance in the low speeds of the PMSM