基于ADRC的优化虚拟轴控制用于多动子永磁同步直线电机

The multimover permanent magnet synchronous linear motor (MM-PMSLM) features modular stators and detachable movers, offering advantages in high-precision positioning and large-capacity applications. To enhance disturbance rejection and synchronization performance among multiple movers, this article proposes an optimized virtual-shaft control (VSC) strategy based on active disturbance rejection control (ADRC). The proposed method improves synchronization through two key innovations. First, a disturbance observer and linear state error feedback control law are designed for inner loop speed and position tracking. Second, the virtual-shaft structure is simplified, and the disturbance and synchronization error compensation strategies are proposed for the outer loop coordination. Through structural decoupling, the synchronous system’s disturbance rejection and noise suppression characteristics are analyzed in the frequency domain. Simulations and experiments are carried out on an MM-PMSLM system, which verifies the effectiveness of the proposed synchronization control strategy.