Iterative learning PID Controller for Permanent Magnet Linear Synchronous Motor

Abstract

At present, PID controllers have been widely used to control permanent magnet linear synchronous motor(PMLSM), but PID controllers are difficult to be suitable for the occasions with high precision requirements. In order to solve the problem of high precision control, the position-speed-current three-loop control structure is adopted in this study. In the design process of the position controller, the method of combining PID and Iterative learning controller is adopted. Iterative learning control(ILC) can deal with problems in a very simple way. A dynamic system with a fairly high degree of certainty, at the same time, is highly adaptable and easy to implement. It does not rely on the precise mathematical model of the dynamic system, and is an iterative generation of optimized input signals. The Matlab simulation results show that the PMLSM under the iterative learning PID control has accurate position tracking ability. The applicable object of this control system is the controlled system with repetitive motion of industrial robot, which can effectively realize the complete tracking task in a limited time interval.