Adaptive Jerk Control and Modified Parameter Estimation for PMLSM Servo System With Disturbance Attenuation Ability
Hao Yuan, Ximei Zhao
Abstract
The direct-drive industrial technology has put forward much higher requirements for the application of high-performance permanent magnet linear synchronous motor (PMLSM) servo system. To improve the control accuracy and transient performance, a novel disturbance attenuation approach is proposed based on adaptive jerk control (AJC) and modified parameter estimation for PMLSM servo system in this article. Within the control details, AJC is proposed to realize asymptotic stability without requiring <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> knowledge of disturbances, which can release the strong restriction and eliminate the design conservation. Furthermore, a novel adaptive law is designed for feedback gain to further enhance the robustness when the system meets the challenge of high-gain feedback and measurement noise. Meanwhile, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ϵ</i> -modification parameter estimation is employed to approximate and compensate for the parameter variation, which can not only achieve fast convergence rate but also guarantee small overshoot. The asymptotic stability of the proposed control method is analyzed and proved by the Lyapunov theorem. Finally, the experimental results are presented to validate the efficiency with better disturbance attenuation ability.