Nonlinear Robust Control Algorithm for PM Linear Synchronous Motors Based on Model Quasi Linearization

A new nonlinear robust control scheme of permanent magnet linear synchronous motors (PMLSM) is proposed in this article. A quasi-linearized and decoupled model with uncertainties is derived by the mathematical model of PMLSM according to its characteristic. A fixed-boundary sliding mode controller using the msat function is designed to guarantee the robustness and remove the chattering that usually exists in normal sliding mode control. Design of a force observer is given to estimate the load force unknown in the new model. The validity of the proposed algorithm compared with the conventional PID control scheme is proved by MATLAB simulation results and DSP-based experimental results.

Keywords:

• PMLSM
• feedback linearization
• sliding mode controller
• robustness
• msat function
• force observer