Permanent magnet linear synchronous motor position control based on energy shaping method
QIU Jun, HU Chao, LI Ying dao
(School of Information Science and Engineering, Ningbo Institute of Technology, Zhejiang University, 
Ningbo 315100, China)

Abstract: Aiming at the problems of permanent magnet synchronous linear motor position control, controller was studied from the view of energy shaping control. Based on the Hamiltonian feedback dissipative control method, combining the system s physical energy characteristics， the closed loop system Hamiltonian function of PMLSM was built in dq rotating coordinate system, and the speed controller was designed with feedback dissipation control method which can guarantee systems input energy and output energy was balanced dynamically. The damping parameter PID self tuning method was proposed to improve system performance. Then the position control outer loop was added to control system to realize PMLSM position control, and the double closed loop control system was proposed with position loop and speed loop. The simulation results shows the designed controller has good stability, fast position tracking and good robust performance.

Key words: energy shaping; permanent magnet linear synchronous motor (PMLSM); position control; Hamiltonian feedback dissipation control