Two-Degree-of-Freedom Input/Output Linearization PMSLM Robust Position Control Based on State Observation

Abstract

To improve the displacement response performance and robustness of permanent magnet synchronous linear motor (PMSLM), a two-degree-of-freedom input/output linear controller based on state observation is proposed. First, the parallel feedback method is used to improve the input/output linearization controller, and the position response speed and immunity of the PMSLM system are adjusted by two degrees of freedom. Second, the error observer is designed to replace the differential operation in the control law, which reduces the interference of the sensor observation noise to the control law and improves the dynamic response performance of the system. Then, a disturbance observer is employed to estimate the total disturbance of the system and improve the robustness of the proposed method. Finally, a linear motor test platform is built based on the semiphysical control system AD5435, and the experimental results verify the correctness and effectiveness of the proposed method in robust position control.