Adaptive Jerk Control for Permanent Magnet Linear Synchronous Motor Servo System

An adaptive jerk control (AJC) scheme was proposed in view of the susceptibility of uncertainty factors in the permanent magnet linear synchronous motor (PMLSM) servo system. Firstly, the dynamic of the PMLSM servo system with uncertainties was established. Then, the model-based feedforward control was used to compensate for the dynamic error caused by parametric uncertainties, and the response speed of the system was improved. Moreover, AJC was adopted to suppress the uncertainties such as external disturbance and nonlinear friction in the system. Robust gain was convergent following an adaptive law in a bounded range and the robustness of the system was enhanced. The output signal of AJC was integrated to form the feedback control law, which weakened the high frequency resonance caused by unmodeled dynamics of the switching function excitation, ensuring the stability and continuity of the control signal. The experimental results indicate that the control method can generate a smooth control signal and the control performance of the system is improved significantly. The tracking error is reduced and high frequency oscillation is successfully avoided. The control precision of the PMLSM servo system is more accurate. © 2020, Electrical Technology Press Co. Ltd. All right reserved.