Controller Design and Performance Analysis for the Precision Platform of Two-Axis Linear Permanent Magnet Iron Core Synchronous Motors

This study proposes applying adaptive incremental sliding mode control (AISMC) to a dual-axis core-type permanent magnet servo synchronous linear motor to establish a high-precision dual-axis motion control platform. First, this study uses the magnetic field-oriented theorem to convert the three-phase control current of the drive motor into the d-q axis control current and integrates it with the magnetic thrust equation and mechanical model of the linear motor to obtain the biaxial linear dynamic equations of the motor platform. However, many external disturbances will be encountered during the operation of the motor, such as friction, ripple effects, and variations in the internal parameters of the system. We collectively refer to these disturbances as system uncertainties and incorporate them into the dual-axis linear motor platform design. Considerations are made within the dynamic equation to establish a more refined dynamic equation. Then, a high-order controller can be designed based on the system dynamic equation established above. In the controller design stage, we will first design the SMC. Due to its simple structure and high robustness, it is very suitable for uncertain systems such as linear motors. In many systems, its shortcoming is the chattering phenomenon in the smooth mode. To improve this phenomenon, we designed AISMC. Its feature is that the past control input will be considered when designing the controller to suppress chattering. The vibration phenomenon and adaptive control are used to compensate for system uncertainty. Finally, experiments prove that this research successfully improves the precision of the dual-axis motion platform.