Adaptive Backstepping Speed Control of Permanent Magnet Actuator Driven by Segmented Driving Coils in PMLSM

The permanent magnet linear synchronous motor (PMLSM) with segmented driving coils could be used to transport the packages in the underground logistic pipeline, but the load variation on the permanent magnet (PM) actuator would affect the operational stability and transportation accuracy. Therefore, a control law using the adaptive backstepping method is designed to control the speed of the secondary actuator and suppress influences of load variation. First, considering the load variation and the flux variation of the secondary actuator at the speed control state, the thrust-force model and driving principle of the PMLSM are studied, and the driving functions at different stages are established. Then, the adaptive control law is designed for the speed control of the secondary actuator based on the driving function and the adaptive backstepping control, and then numerical simulations are performed to analyze the influence of the load variation. Finally, experiments are conducted on a self-designed PMLSM to verify the simulation results, and the results verify that the secondary actuator using the adaptive backstepping control method could enhance the tracking precision and robust ability.