CN102664569A - Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor - Google Patents

Abstract

The invention provides a permanent magnet synchronous linear motor control method and device based on sliding mode variable structure. By establishing a permanent magnet synchronous linear motor model, and then establishing an overall simulation module of the permanent magnet synchronous linear motor and adjusting parameters, and then selecting a suitable The sliding mode variable structure and the corresponding simulation module are established, and finally the simulation and result comparison are carried out through the sliding mode variable structure control. This scheme changes the traditional single PID control into sliding mode control, so that the speed response is faster and the overshoot is smaller. Small size, stronger anti-interference ability, simple sliding mode variable structure control algorithm, good robustness and high reliability, can be well applied in the process of nonlinear motion control.

Description

A control method and device for permanent magnet synchronous linear motor based on sliding mode variable structure

technical field

The invention relates to the technical field of information control, in particular to a control method and device for a permanent magnet synchronous linear motor based on a sliding mode variable structure.

Background technique

The permanent magnet synchronous linear motor is a transmission device that can directly convert electrical energy into linear motion. Since it does not require an intermediate transmission medium, it has significant advantages over the traditional "rotary motor + roller screw" transmission method such as: precision High, high speed and acceleration, stable, large thrust, etc. In recent years, linear motors have developed rapidly and are widely used in various occasions, especially in the field of high-speed processing with high efficiency and high precision as the basic characteristics. Linear motors are gradually replacing ordinary servo drive systems due to their advantages in fast response and precision. However, to make linear motors exhibit excellent performance, the requirements for control systems are getting higher and higher.

The traditional PID control has the advantages of simple structure, stable output, and easy implementation, and has been used until now. However, in the processing occasions with high speed, high precision and large load disturbance, simple PID control cannot achieve the ideal control effect.

Aiming at the problem of poor control effect of the existing technology in high-speed, high-precision, and large load disturbance processing occasions, a permanent magnet synchronous linear motor control method and device based on sliding mode variable structure is proposed, which is an urgent need in the field of information control technology. One of the problems solved.

Contents of the invention

In view of this, the embodiment of the present invention proposes a permanent magnet synchronous linear motor control method and device based on sliding mode variable structure, by establishing a permanent magnet synchronous linear motor model, and then establishing an overall simulation module of the permanent magnet synchronous linear motor and performing Parameter adjustment, then select the appropriate sliding mode variable structure and establish the corresponding simulation module, and finally simulate and compare the results through the sliding mode variable structure control. This scheme changes the traditional single PID control into sliding mode control to make the speed response more accurate. Faster, smaller overshoot, and stronger anti-interference ability. The sliding mode variable structure control algorithm is simple, robust and reliable, and can be well applied in the process of nonlinear motion control.

In order to solve the above technical problems, the purpose of the embodiments of the present invention is achieved through the following technical solutions:

A control method for a permanent magnet synchronous linear motor based on a sliding mode variable structure, comprising:

Step 1. Establish a permanent magnet synchronous linear motor model;

Step 2. Establish the overall simulation module of the permanent magnet synchronous linear motor and adjust the parameters;

Step 3: Select a suitable sliding mode variable structure and establish a corresponding simulation module;

Step 4: Carry out simulation and result comparison through sliding mode variable structure control.

Preferably, in the above step 1, the permanent magnet synchronous linear motor model is built according to the dynamic equation.

Preferably, the dynamic equation of the permanent magnet synchronous linear motor is:

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; v</span>}}\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; m</span>}\frac{\mathrm{<span\; class="notranslate">\; dV</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$

Among them, L _d , L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor.

Preferably, the above step 1 further includes establishing voltage and mechanical modules based on mathematical models, and establishing a permanent magnet synchronous linear motor model based on dynamic equations.

Preferably, in the above step 2, an overall simulation module of the permanent magnet synchronous linear motor is established, including but not limited to speed and current loop PID control, and SVPWM module.

Preferably, in the second step above, parameter adjustment is performed to obtain the initial parameters of each PID controller.

Preferably, in the above step 3, the sliding mode variable structure control scheme is:

u＝u _eq +u _sw

Among them, u _eq = ne, u _sw = fsign(s), so we have

A permanent magnet synchronous linear motor control device based on sliding mode variable structure, including a model building unit, a parameter adjustment unit, a selection unit and a comparison unit, by establishing a permanent magnet synchronous linear motor model, and then establishing an overall simulation of the permanent magnet synchronous linear motor Module and parameter adjustment, then select the appropriate sliding mode variable structure and establish the corresponding simulation module, and finally simulate and compare the results through sliding mode variable structure control.

Preferably, the above-mentioned model building unit is used for building a permanent magnet synchronous linear motor model.

Preferably, the above parameter adjustment unit is used to establish an overall simulation module of the permanent magnet synchronous linear motor and perform parameter adjustment.

Preferably, the selection unit is used to select a suitable sliding mode variable structure and establish a corresponding simulation module.

Preferably, the above comparison unit is used for simulation and result comparison through sliding mode variable structure control.

In summary, the present invention provides a permanent magnet synchronous linear motor control method and device based on sliding mode variable structure, by establishing a permanent magnet synchronous linear motor model, and then establishing an overall simulation module of the permanent magnet synchronous linear motor and performing parameter Adjustment, then select the appropriate sliding mode variable structure and establish the corresponding simulation module, and finally simulate and compare the results through sliding mode variable structure control. This program changes the traditional single PID control to sliding mode control to make the speed response faster , the overshoot is smaller, and the anti-interference ability is stronger. The sliding mode variable structure control algorithm is simple, robust and reliable, and can be well applied in the process of nonlinear motion control.

Description of drawings

Fig. 1 is a schematic diagram of a permanent magnet synchronous linear motor control method based on sliding mode variable structure of the present invention;

Fig. 2 is the model schematic diagram of sliding mode controller of the present invention;

Figure 3 is a schematic diagram of the entire model of PMLSM sliding mode control under Simulink;

Figure 4 is a schematic diagram of the PID controller speed simulation waveform;

Fig. 5 is a schematic diagram of the velocity simulation waveform of the sliding mode controller;

Figure 6 is a schematic diagram of the velocity simulation waveform when the PID controller suddenly adds disturbance;

Figure 7 is a schematic diagram of the velocity simulation waveform when the sliding mode controller suddenly adds a disturbance;

Fig. 8 is a schematic diagram of thrust comparison waveform;

FIG. 9 is a schematic diagram of a permanent magnet synchronous linear motor control device based on a sliding mode variable structure according to the present invention.

Detailed ways

The embodiment of the present invention provides a method and device for controlling a permanent magnet synchronous linear motor based on a sliding mode variable structure. By establishing a permanent magnet synchronous linear motor model, and then establishing an overall simulation module of the permanent magnet synchronous linear motor and performing parameter adjustment, and then Select an appropriate sliding mode variable structure and establish a corresponding simulation module, and finally simulate and compare the results through sliding mode variable structure control. This program changes the traditional single PID control to sliding mode control, so that the speed response is faster and the overshoot The amount is smaller, and the anti-interference ability is stronger. The sliding mode variable structure control algorithm is simple, robust and reliable, and can be well applied in the process of nonlinear motion control.

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples.

The main idea of this scheme is: replace the traditional PID controller with the control method of the sliding mode variable structure controller. This method makes certain improvements on the speed loop of the linear motor, and changes the traditional single PID control The speed response is faster, the overshoot is smaller, and the anti-interference ability is stronger. The sliding mode variable structure control algorithm is simple, robust and reliable, and can be well applied in the nonlinear motion control process. This scheme proposes a control that replaces the PID controller in the speed loop with a sliding mode controller method, the experimental simulation results show that the system has a good improvement in the rapidity and anti-jamming.

The embodiment of the present invention provides a permanent magnet synchronous linear motor control method based on sliding mode variable structure, as shown in Figure 1, the specific steps include:

Step 1. Establish a permanent magnet synchronous linear motor model;

Specifically, in the embodiment of the present invention, in view of the fact that there is no simulation model of the linear motor in simulink, this solution is to establish a voltage and mechanical module based on the mathematical model of PMLSM, and build a simulation module of the linear motor according to the dynamic equation, that is, permanent magnet synchronous Linear motor model.

Further, the thrust of the linear motor in this scheme is:

式（1）

Formula 1)

Among them, L _d =L _q =L, and in the actual control strategy, i _d =0 is generally used, so the linear motor thrust equation can be simplified as:

式（2）

Formula (2)

In addition, the dynamic equation of the permanent magnet synchronous linear motor is:

$f_e=f_d+B_{v}V+m\frac{\mathrm{dV}}{\mathrm{dt}}$ Formula (3)

Among them, L _{d and} L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor.

Step 2. Establish the overall simulation module of the permanent magnet synchronous linear motor and adjust the parameters;

Specifically, in the embodiment of the present invention, the overall simulation module of the permanent magnet synchronous linear motor will be established, including but not limited to the speed and current loop PID control, SVPWM module, etc., and the initial parameters of each PID controller will be obtained by parameter adjustment .

In this scheme, the thrust equation of the linear motor is:

式（2）

Formula (2)

The dynamic equation of permanent magnet synchronous linear motor is:

$f_e=f_d+B_{v}V+m\frac{\mathrm{dV}}{\mathrm{dt}}$ Formula (3)

Among them, L _{d and} L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor.

From formula (2) and formula (3) can get

$\stackrel{\&CenterDot;}{v}=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;m}}{i}_q-\frac{B_v}{m}v-\frac{f_d}{m}$ Formula (4)

written as $\stackrel{\&Center\; Dot;}{v}=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;m}}{i}_q^{*}+a\left(t\right)$ Formula (5)

定义速度误差为e＝v*-v，则in,

Define the speed error as e=v*-v, then

为滑模控制器输出。选取积分型滑模面为 $s=e+c{\&Integral;}_0^t\mathrm{ed\&tau;},$ $c=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;n}}n,$ n为正数。

is the output of the sliding mode controller. The integral sliding mode surface is selected as $\mathrm{the\; s}=e+c{\&Integral;}_0^t\mathrm{ed\&tau;},$ $c=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;n}}\mathrm{no},$ n is a positive number.

Step 3: Select a suitable sliding mode variable structure and establish a corresponding simulation module;

Specifically, in the embodiment of the present invention, based on the mathematical model of the linear motor, an appropriate sliding mode variable structure is selected and a corresponding simulink simulation module is established.

Further, when the system moves to the sliding mode surface, there are s=0 and s=0. The ultimate goal of the controller is that if the system reaches the sliding mode surface and stabilizes on the sliding mode surface within a limited time, the sliding mode variable structure control scheme selected in this program is:

u＝u _eq +u _sw formula (6)

Among them, u _eq =ne, u _sw =fsign(s), so formula (6) is rewritten as

$u=i_q^{*}=\mathrm{me}+\mathrm{fsign}\left(\mathrm{the\; s}\right)$ Formula (7)

According to formula (7) the model of the sliding mode controller can be established as shown in Figure 2 (that is, the model of the integral sliding mode controller).

From this, the entire model of PMLSM sliding mode control under Simulink can be established, as shown in Figure 3.

Step 4: Carry out simulation and result comparison through sliding mode variable structure control.

Specifically, in the embodiment of the present invention, the speed loop PID controller is replaced by the sliding mode variable structure control for simulation and the simulation results of the PID controller are compared.

Further, in this scheme, the speed is given as 1m/s, and the simulation results are shown in Figure 4 and Figure 5 when there is no disturbance. Among them, Fig. 4 is a schematic diagram of a velocity simulation waveform of a PID controller; Fig. 5 is a schematic diagram of a velocity simulation waveform of a sliding mode controller.

In addition, it can be seen from the velocity simulation waveform that the response time and overshoot of the traditional PID are 0.2S and 9.8% respectively, while the response time and overshoot of the sliding mode variable structure controller are 0.042S and 0.6% respectively. It has been greatly improved in terms of overshoot and rapidity. In order to test the stability of the system, the disturbance waveform is suddenly added at 0.5S as shown in Figure 6 and Figure 7. Figure 6 is a schematic diagram of the velocity simulation waveform when the PID controller is suddenly disturbed; Figure 7 is a schematic diagram of the velocity simulation waveform when the sliding mode controller is suddenly disturbed.

It can be seen from the comparison in the figure that the PID control has a large disturbance when the system is suddenly loaded, while the sliding mode variable structure controller can well suppress the disturbance of the external disturbance to the system, and has stronger anti-interference performance. The thrust comparison waveform is shown in Fig. 8. The sliding mode variable structure control is faster than the PID controller in thrust response, so that the system has better control performance.

In addition, the embodiment of the present invention also provides a permanent magnet synchronous linear motor control device based on a sliding mode variable structure. As shown in FIG. 9 , it is a schematic diagram of a permanent magnet synchronous linear motor control device based on a sliding mode variable structure provided by an embodiment of the present invention.

A permanent magnet synchronous linear motor control device based on sliding mode variable structure, including a model building unit 11 , a parameter adjustment unit 22 , a selection unit 33 and a comparison unit 44 .

A model building unit 11, configured to set up a permanent magnet synchronous linear motor model;

Specifically, in the embodiment of the present invention, in view of the fact that there is no simulation model of the linear motor in simulink, this solution is to establish a voltage and mechanical module based on the mathematical model of PMLSM, and build a simulation module of the linear motor according to the dynamic equation, that is, permanent magnet synchronous Linear motor model.

Further, the thrust of the linear motor in this scheme is:

式（1）

Formula 1)

Among them, L _d =L _q =L, and in the actual control strategy, i _d =0 is generally used, so the linear motor thrust equation can be simplified as:

Formula (2)

In addition, the dynamic equation of the permanent magnet synchronous linear motor is:

${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; v</span>}}\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; m</span>}\frac{\mathrm{<span\; class="notranslate">\; dV</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$

Formula (3)

Among them, L _{d and} L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor.

The parameter adjustment unit 22 is used to establish the overall simulation module of the permanent magnet synchronous linear motor and perform parameter adjustment;

Specifically, in the embodiment of the present invention, the overall simulation module of the permanent magnet synchronous linear motor will be established, including but not limited to the speed and current loop PID control, SVPWM module, etc., and the initial parameters of each PID controller will be obtained by parameter adjustment .

In this scheme, the thrust equation of the linear motor is:

式（2）

Formula (2)

The dynamic equation of permanent magnet synchronous linear motor is:

$f_e=f_d+B_{v}V+m\frac{\mathrm{dV}}{\mathrm{dt}}$ Formula (3)

Among them, L _{d and} L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor.

From formula (2) and formula (3) can get

$\stackrel{\&Center\; Dot;}{v}=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;m}}{i}_q-\frac{B_v}{m}v-\frac{f_d}{m}$ Formula (4)

written as

$\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; v</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; \&pi;\&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&tau;m</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>$

定义速度误差为e＝v*-v，则

为滑模控制器输出。选取积分型滑模面为 $s=e+c{\&Integral;}_0^t\mathrm{ed\&tau;},$ $c=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;n}}n,$ n为正数。in,

Define the speed error as e=v*-v, then

is the output of the sliding mode controller. The integral sliding mode surface is selected as $\mathrm{the\; s}=e+c{\&Integral;}_0^t\mathrm{ed\&tau;},$ $c=\frac{{3\mathrm{\&pi;\&psi;}}_f}{2\mathrm{\&tau;n}}\mathrm{no},$ n is a positive number.

The selection unit 33 is used to select a suitable sliding mode variable structure and establish a corresponding simulation module;

Specifically, in the embodiment of the present invention, based on the mathematical model of the linear motor, an appropriate sliding mode variable structure is selected and a corresponding simulink simulation module is established.

Further, when the system moves to the sliding surface, there are s=0 and s=0. The ultimate goal of the controller is that if the system reaches the sliding mode surface and stabilizes on the sliding mode surface within a limited time, the sliding mode variable structure control scheme selected in this program is:

u＝u _eq +u _sw formula (6)

Among them, u _eq =ne, u _sw =fsign(s), so formula (6) is rewritten as

$u=i_q^{*}=\mathrm{ne}+\mathrm{fsign}\left(\mathrm{the\; s}\right)$ Formula (7)

According to formula (7) the model of the sliding mode controller can be established as shown in Figure 2 (that is, the model of the integral sliding mode controller).

From this, the entire model of PMLSM sliding mode control under Simulink can be established, as shown in Figure 3.

The comparison unit 44 is used for performing simulation and result comparison through sliding mode variable structure control.

Specifically, in the embodiment of the present invention, the speed loop PID controller is replaced by the sliding mode variable structure control for simulation and the simulation results of the PID controller are compared.

Further, in this scheme, the speed is given as 1m/s, and the simulation results are shown in Figure 4 and Figure 5 when there is no disturbance. Among them, Fig. 4 is a schematic diagram of a velocity simulation waveform of a PID controller; Fig. 5 is a schematic diagram of a velocity simulation waveform of a sliding mode controller.

In addition, it can be seen from the velocity simulation waveform that the response time and overshoot of the traditional PID are 0.2s and 9.8% respectively, while the response time and overshoot of the sliding mode variable structure controller are 0.042s and 0.6% respectively. It has been greatly improved in terms of overshoot and rapidity. In order to test the stability of the system, the disturbance waveform is suddenly added at 0.5S as shown in Figure 6 and Figure 7. Figure 6 is a schematic diagram of the velocity simulation waveform when the PID controller is suddenly disturbed; Figure 7 is a schematic diagram of the velocity simulation waveform when the sliding mode controller is suddenly disturbed.

It can be seen from the comparison in the figure that the PID control has a large disturbance when the system is suddenly loaded, while the sliding mode variable structure controller can well suppress the disturbance of the external disturbance to the system, and has stronger anti-interference performance. The thrust comparison waveform is shown in Fig. 8. The sliding mode variable structure control is faster than the PID controller in thrust response, so that the system has better control performance.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be executed when executed , including one or a combination of the steps of the method embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

In summary, this paper provides a permanent magnet synchronous linear motor control method and device based on sliding mode variable structure. By establishing the permanent magnet synchronous linear motor model, and then establishing the overall simulation module of the permanent magnet synchronous linear motor and adjusting the parameters , then select the appropriate sliding mode variable structure and establish the corresponding simulation module, and finally simulate and compare the results through the sliding mode variable structure control. This scheme changes the traditional single PID control into sliding mode control to make the speed response faster. The overshoot is smaller, and the anti-interference ability is stronger. The sliding mode variable structure control algorithm is simple, robust and reliable, and can be well applied in the process of nonlinear motion control.

A kind of permanent magnet synchronous linear motor control method and device based on sliding mode variable structure provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The above embodiments The description is only used to help understand the solution of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification It should not be construed as limiting the invention.

Claims (12)

1. a permanent magnet synchronous linear motor control method based on sliding mode variable structure, it is characterized in that, described method comprises: Step 1. Establish a permanent magnet synchronous linear motor model; Step 2. Establish the overall simulation module of the permanent magnet synchronous linear motor and adjust the parameters; Step 3: Select a suitable sliding mode variable structure and establish a corresponding simulation module; Step 4: Carry out simulation and result comparison through sliding mode variable structure control. 2. The method according to claim 1, characterized in that, in said step 1, a permanent magnet synchronous linear motor model is built according to dynamic equations. 3. method according to claim 2, is characterized in that, the kinetic equation of described permanent magnet synchronous linear motor is: ${\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; v</span>}}\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; m</span>}\frac{\mathrm{<span\; class="notranslate">\; dV</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$ Among them, L _d , L _q are the inductance of the direct axis and the quadrature axis, φ _f is the flux linkage of the permanent magnet of the linear motor; V is the speed of the linear motor; m is the mass of the motor. 4. The method according to claim 1, characterized in that, in said step 1, further comprising establishing a voltage and mechanical module according to a mathematical model, and constructing a permanent magnet synchronous linear motor model according to a dynamic equation. 5. The method according to claim 1, characterized in that, in said step 2, an overall simulation module of the permanent magnet synchronous linear motor is established, including but not limited to speed and current loop PID control, SVPWM module. 6. The method according to claim 1, characterized in that in said step 2, parameter adjustment is performed to obtain initial parameters of each PID controller. 7. The method according to claim 1, characterized in that, in the step 3, the sliding mode variable structure control scheme is: u＝u _eq +u _sw Among them, u _eq = ne, u _sw = fsign(s), so we have

8. A permanent magnet synchronous linear motor control device based on sliding mode variable structure, characterized in that the device includes a model building unit, a parameter adjustment unit, a selection unit and a comparison unit, by setting up a permanent magnet synchronous linear motor model, and then The overall simulation module of the permanent magnet synchronous linear motor is established and the parameters are adjusted. Then, the appropriate sliding mode variable structure is selected and the corresponding simulation module is established. Finally, the simulation and result comparison are carried out through the sliding mode variable structure control. 9. The device according to claim 8, wherein the model building unit is used to build a permanent magnet synchronous linear motor model. 10. The device according to claim 8, wherein the parameter adjustment unit is used to establish an overall simulation module of the permanent magnet synchronous linear motor and perform parameter adjustment. 11. The device according to claim 8, wherein the selection unit is used to select a suitable sliding mode variable structure and establish a corresponding simulation module. 12 . The device according to claim 11 , wherein the comparison unit is used to perform simulation and result comparison through sliding mode variable structure control. 13 .

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