# US 12,117,782 B2 · Linear motor motion control method, device, equipment and storage medium

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- Number: US 12,117,782 B2
- Document ID: US12117782B2
- Status: Granted
- Kind: B2
- Application number: 18/430,513
- Filed: 2024-02-01
- Published: 2024-05-30
- Granted: 2024-10-15
- Earliest claimed: 2022-08-22
- Assignees: Guangdong University of Technology
- Applicants: Guangdong University of Technology
- Inventors: Lanyu Zhang; Boyu Zhan; Jian Gao; Yachao Liu; Yun Chen; Xin Chen; Nan Huang; Huake Wang; Xuanzhu Chen
- Web page: https://patentgrep.com/patent/US12117782B2

## CPC

- G05B 13/042: {in which a parameter or coefficient is automatically adjusted to optimise the performance}
- G05B 13/048: {using a predictor}
- H02P 25/06: Linear motors
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

A linear motor motion control method, device, equipment and storage medium. The proposed invention uses an extended state observer constructed in advance based on the model parameters of the linear motor, and performs state estimation based on the total control amount of the linear motor and the actual displacement signal to obtain each observation signal. The phase advance controller is used to improve the estimated lag of the disturbance observation signal, and a model prediction controller built in advance based on the mathematical model of the linear motor is used to perform rolling optimization based on each observation signal to obtain the optimal control amount increment; The total control amount is updated based on the improved disturbance observation signal and the optimal control amount increment, and the corresponding drive signal is output to the drive end of the linear motor based on the updated total control amount.

## Claims

### Claim 1

A linear motor motion control method, wherein, it comprises:
a displacement planning signal and an actual displacement signal of a linear motor are obtained;
an extended state observer constructed in advance based on model parameters of the linear motor is used to perform state estimation based on a total control amount of the linear motor and the actual displacement signal; and a corresponding displacement observation signal, a speed observation signal and a disturbance observation signal are obtained;
a pre-constructed phase advance controller is used to improve an estimated lag of the disturbance observation signal and obtain an improved disturbance observation signal;
a model prediction controller constructed in advance based on a mathematical model of the linear motor is used to perform rolling optimization based on the displacement planning signal, the displacement observation signal and the speed observation signal to obtain an optimal control amount increment;
the total control amount is updated based on the improved disturbance observation signal and the optimal control amount increment, and a corresponding drive signal is output to a drive end of the linear motor based on an updated total control amount; this achieves a motion control of the linear motor;
a prediction model used by the model prediction controller is:
Yp(k)=PxΔX(k)+Iy(k)+PuΔU(k)
in the formula, k is a current time value, Yp (k) is a predicted displacement output value sequence (Yp (k)=[y(k+1|k) y(k+2|k) . . . y(k+p|k)]Tp×1), the superscript T indicates transposition, y(k+i|k) is a displacement output value in a future time k+i predicted at a current time k(i=1, 2, . . . , p), Px is a system matrix (Px=[CAΣx=12CAx . . . Σx=1pCAx]Tp×2), I is an unit matrix (I=[1 1 . . . 1]Tp×1), Pu is a control matrix
(
P
u
=
[
CB
0
0
⋯
0
∑
x
=
1
2
⁢
CA
x
-
1
⁢
B
CB
0
⋯
0
⋮
⋮
⋮
⋱
⋮
∑
x
=
1
m
⁢
CA
x
-
1
⁢
B
∑
x
=
1
m
-
1
⁢
CA
x
-
1
⁢
B
⋯
⋯
CB
⋮
⋮
⋮
⋱
⋮
∑
x
=
1
p
⁢
CA
x
-
1
⁢
B
∑
x
=
1
p
-
1
⁢
CA
x
-
1
⁢
B
⋯
⋯
∑
x
=
1
p
-
m
+
1
⁢
CA
x
-
1
⁢
B
]
p
×
m
,
A
=
[
1
t
-
a
0
⁢
t
1
-
a
1
⁢
t
]
,
B
=
[
0
b
0
⁢
t
]
,
C
=
[
1
0
]
)
,
t is a signal sampling interval time, a1 represents a speed gain, b0 represents a control amount gain, ΔX(k) is an observation signal difference sequence (ΔX(k)=[z1(k)−z1 (k−1) z2 (k)−z2 (k−1)]T), z1 (k) represents the displacement observation signal at the current time k, z1 (k−1) represents the displacement observation signal at a time k−1, z2 (k) is the speed observation signal at the current time k, z2 (k−1) represents the speed observation signal at the time k−1, y(k) is the actual displacement signal at the current time k, ΔU(k) is a control increment sequence (ΔU(k)=[Δu0(k) Δu0 (k+1) . . . Δu0(k+m−1)]Tm×1), Δu0(j) represents the optimal control amount increment, m is a control time domain, and p is a prediction time domain.

### Claim 2 (depends on 1)

The linear motor motion control method according to claim 1, wherein the state estimation based on the total control amount of the linear motor and the actual displacement signal comprises:
according to the total control amount of the linear motor and the actual displacement signal, the corresponding displacement observation signal, the speed observation signal and the disturbance observation signal are calculated according to the following observation expressions:
{
z
˙
1
=
z
2
-
l
1
(
z
1
-
y
)
z
.
2
=
Z
3
-
a
1
⁢
z
2
-
a
0
⁢
z
1
+
b
0
⁢
u
-
l
2
(
Z
1
-
y
)
z
˙
3
=
-
l
3
(
z
1
-
y
)
in the formula, ż1 is a first-order derivative of the displacement observation signal, ż2 is a first-order derivative of the speed observation signal, ż3 is a first-order derivative of the disturbance observation signal, u is the total control amount of the linear motor, y is the actual displacement signal, z1 is the displacement observation signal, z2, is the speed observation signal, z3 is the disturbance observation signal, l1, l2, and l3 are the observation-parameters of the extended state observer, a0, a1 and b0 are the model parameters of the linear motor; among them, a0 represents the displacement gain, a1 represents the speed gain, and b0 represents the control amount gain.

### Claim 3 (depends on 2)

The linear motor motion control method according to claim 2, wherein the model of the linear motor is:
{dot over (v)}=−a0y−a1v+w(t)+b0u
in the formula, {dot over (v)} is the first-order derivative of the actual speed signal of the linear motor, v is the actual speed signal of the linear motor, and w (t) is the external disturbance signal;
the observation parameters of the extended state observer satisfy:
{
l
1
=
3
⁢
w
o
-
a
1
l
2
=
3
⁢
w
o
2
-
3
⁢
w
o
⁢
a
1
-
a
0
+
(
a
1
)
2
l
3
=
w
o
3
in the formula, wo is an observation bandwidth parameter.

### Claim 4 (depends on 1)

The linear motor motion control method according to claim 1, wherein an expression of the phase advance controller is:
z
d
z
3
=
T
e
⁢
s
+
1
rT
e
⁢
s
+
1
in the formula, zd is the improved disturbance observation signal, z3 is the disturbance observation signal, r is an adjustment factor (r=0.5), and Te is a time constant
(
T
e
=
1
rw
o
)
,
and s is a Laplace transform factor.

### Claim 5 (depends on 1)

The linear motor motion control method according to claim 1, wherein the rolling optimization is performed according to the displacement planning signal, the displacement observation signal and the speed observation signal to obtain the optimal control amount increment, which comprises:
the displacement output value sequence is obtained through the prediction model, and the displacement output value sequence is substituted into the following optimization objective function:
J(m,p)=(Yp(k)−R(k))TQ(Yp(k)−R(k))+ΔU(k)TWΔU(k)
in the formula, R(k) is the displacement planning signal sequence (R(k)= [r(k+1) r(k+2) . . . r(k+p)]Tp×1), r(k+i) is the displacement planning signal, Q and W are the weight matrix that needs to be designed (Q=diag[q1 q2 . . . qi]p×p, q1, q2, qi respectively correspond to the weight of the first, second, and ith signals in the obtained sequence Yp(k)−R(k), W=diag[w1 w2 . . . wi]m×m, w1, w2, wi respectively correspond to the weights of the first, second, and ith signals in ΔU(k));
taking
dJ
d
⁢
Δ
⁢
U
⁡
(
k
)
=
0
as an extreme value condition, the optimization objective function according to the extreme value condition is solved, and the optimal control amount increment is obtained:
Δu0(k)=[1 0 . . . 0]1×m(PuTQTQPu+WTW)−1PuTQTQ(R(k+1)−PxΔ{circumflex over (X)}(k)−Iy(k).

### Claim 6 (depends on 5)

The linear motor motion control method according to claim 5, wherein the updating of the total control amount according to the improved disturbance observation signal and the optimal control amount increment comprises:
an optimal control amount according to the optimal control amount increment is obtained;
the total control amount is updated according to the following formula:
u
=
u
0
-
z
d
b
0
in the formula, u represents the total control amount, u0 represents the optimal control amount, zd is the improved disturbance observation signal, b0 is a parameter in the model of the linear motor and represents the control amount gain.

### Claim 7 (depends on 1)

A linear motor motion control device, wherein it comprises:
a memory is used to store instructions; wherein the instructions are used to implement the linear motor motion control method of claim 1;
a processor is used for executing instructions in the memory.

### Claim 8

A non-transitory computer-readable storage medium,
wherein a computer program is stored on the non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the linear motor movement control method is realized.