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Abstract
Linear motors have many advantages in compare with rotary motors due to directly creating linear motion without
gears or belts, It is hard to apply online model predictive controller for electro-mechanism systems with input,
output and state constraints because it requires the good ability in calculations of microcontroller and the nonlinear
property of these models. In this paper, the exact linearization is applied to obtain the corresponding linear model
and we propose the offline model predictive control law based on multi-parametric programming (MPP) for
permanent magnet linear synchronous motors (PMLSM) to remarkably reduce amount of calculation. Several
simulation results show the ability of proposed method in this paper.
Keywords
Permanent magnet linear synchronous motors, Model predictive controller, Multi-parametric programming, Exact
Linearization.
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CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015
programming and in particular the first-order Karush- Remark 1: This result is equivalent to the previous
Kuhn-Tucker (KKT) optimality conditions [7]. results in [1, 6] based on the conversion between rotary
and linear speed.
2. PROBLEM STATEMENTS The control objective is to find the input control to
achieve the desired speed while obtaining the
The PMLSM (in Fig.1) is described by the minimum of the cost function in the presence of
following dynamic equations [1, 6]: constraints:
u argmin J u , x
*
disd 1 2 Lsq 1
v isd v u U k 0
3 p
Fm
2
p Lsd Lsq isd isq (1) Where P, Q are symmetric positive semi-definite
m dve
Fm Fc N is predictive horizon
p dt
x k X x n : Gx
dx
p
v
dt
u U u n : M u
k
l * p
l
isc isb isa
xp
l l
3 3
Fig. 1. The structure of permanent magnet linear synchronous motors (PMLSM), corresponding coordinate frame.
2
CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015
N 1
X
*
u U
u argmin x k Q x k u k Ru k x N P x N
T T
T
B6:
4 Determining the set of RX0 and we come back
k 0
Step 2: Based on the transformation the step 3, 4, 5 until the obtained set is empty (only
implement in finite steps);
z u H F x Z x 1 T Nm
, we obtain the
optimal control problem (5) Remark 3:
Due to the offline description of the proposed
1 T
z argmin z H z
*
5
scheme, it is enables to implement constrained model
z Z x 2 predictive controller without high performance
microcontrollers as implemented in [6].
Step 3: By selecting arbitrary vector x 0 X and using
the KKT Technique to find the result of (5), we Remark 4:
obtain z 0 Z x0 and 0 ; Due to the depending on state of constraint set
Z x0 (step 3), we have to partition the constraint set
Step 4: From the sign of 0 , we find the index k
X of state (step 4) to obtain the offline algorithm.
correspond to the positive number to separate
G , W,S
from the matrices G, W,S ; Simulation Results.
B5: We have some results as follows: In this section, we implement our simulation studies to
verify the proposed control law based on exact
z x H 1GT GH T 1 W+S
1G x (6) linearization and the parameters of PMLSM is given:
p 2; 72 mm; L sd 4, 7 mH ; L sd 4,1mH ;
where x RX 0 X , in which, R X 0 is obtained p 0,8 Wb ; mslide 3, 5 kg; is , no min al 0,8A;
1
from the relation GH
G 1 T
W+S
x 0 Pno min al 470W; U no min al 380V ; Rsa , sb , sc 8, 5
The simulation of PMLSM investigated by exact
(7)
Ket qua
linearization approach show it tracks the desired value.
0 0.02
0
-0.2
-0.02 isd** isdZOH
**
Current (A)
-0.4 v -0.04
-0.6
v -0.06 isqZOH
Speed (m/s)
0.04
-0.8 -0.08
0.02
-0.1 -0.02
-1 ** isd isq
-0.12 i sq
-0.04
-0.06
-1.2 -0.08
-0.14 -0.1
-0.12
0.1995 0.1996 0.1997 0.1998 0.1999 0.2 0.2001 0.2002 0.2003 0.2004 0.2005
-1.4 -0.16
-1.6 -0.18
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
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CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015