RAPID MOTION CONTROL METHOD FOR RANDOM COMBINATIONS OF SIDE-BY-SIDE SEAMLESSLY FITTING GROUP OF SLIDE PLATES

Abstract

A side-by-side seamlessly fitting group of slide plates includes a frame, a support rod is horizontally arranged on a top side of the frame, a plurality of support plates are rotatably connected to an outer side of the support rod, a permanent magnet linear synchronous motor is arranged on a top surface of each support plate, a linear slide rail is arranged on a top surface of the permanent magnet linear synchronous motor, a slider is slidably connected to an outer side of the linear slide rail, a mounting plate and a slide plate are arranged on a top surface of the slider in sequence, sides of two adjacent ones of the slide plates seamlessly fit to each other, and a bent end of the mounting plate extends to a side surface of the permanent magnet linear synchronous motor and is threadedly connected to a connecting plate.

Claims

1. A side-by-side seamlessly fitting group of slide plates, comprising a frame, wherein a support rod is horizontally arranged on a top side of the frame, a plurality of support plates are rotatably connected to an outer side of the support rod, a permanent magnet linear synchronous motor is arranged on a top surface of each of the plurality of support plates, a linear slide rail is arranged on a top surface of the permanent magnet linear synchronous motor, a slider is slidably connected to an outer side of the linear slide rail, a mounting plate is arranged on a top surface of the slider, a respective slide plate of the slide plates is threadedly connected to a top surface of the mounting plate, and sides of two adjacent ones of the slide plates seamlessly fit to each other, a bent end of the mounting plate extends to a side surface of the permanent magnet linear synchronous motor and is threadedly connected to a connecting plate, the connecting plate is fixedly connected to a side surface of a mover of the permanent magnet linear synchronous motor, a grating ruler is provided at a bottom side of the permanent magnet linear synchronous motor, an end of the connecting plate away from the slider extends to a bottom side of the grating ruler and is provided with a light transmission hole, and an adjusting member for adjusting an angle of the slide plates is provided on the top side of the frame.

2. The side-by-side seamlessly fitting group of slide plates according to claim 1, wherein stop blocks are respectively arranged at two ends of the permanent magnet linear synchronous motor, a first side of each of the stop blocks is adjacent to the permanent magnet linear synchronous motor and fixedly connected to a respective end of the linear slide rail, a second side of each of the stop blocks is adjacent to the slider and provided with a rubber block, and the rubber block is adapted to the linear slide rail.

3. The side-by-side seamlessly fitting group of slide plates according to claim 1, wherein the linear slide rail is provided with linear grooves along a length direction on two sides of the linear slide rail, the slider is provided with ridges-on two sides of an inner wall of the slider, and the ridges are slidably connected to the linear grooves respectively.

4. The side-by-side seamlessly fitting group of slide plates according to claim 1, wherein the adjusting member comprises wedge grooves respectively provided on bottom surfaces of the slide plates, wedge blocks are slidably connected inside the wedge grooves respectively, bottom surfaces of the wedge blocks respectively extend out of the wedge grooves and are arranged on a strip plate, two hydraulic rods are rotatably connected to the top side of the frame, and an output end of each of the two hydraulic rods is fixedly connected to a bottom surface of the strip plate-.

5. The side-by-side seamlessly fitting group of slide plates according to claim 1, further comprising a fuzzy active disturbance rejection controller, wherein the fuzzy active disturbance rejection controller is configured to control a position tracking accuracy of the permanent magnet linear synchronous motor by the following steps: step 1: specifying an input to be manipulated of a controlled system being a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system being a q-axis current i.sub.q* of the permanent magnet linear synchronous motor; step 2: establishing a mathematical model of the permanent magnet linear synchronous motor to determine an order of the fuzzy active disturbance rejection controller; step 3: defining an interference signal of the controlled system through various known and unknown components; and step 4: designing and combining a fuzzy logic with nonlinear state error feedback (NLSEF) in the fuzzy active disturbance rejection controller, and adjusting online parameters of the NLSEF to implement a quick response of a group of slide plates.

6. The side-by-side seamlessly fitting group of slide plates according to claim 5, wherein the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is: $\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$ an electromagnetic thrust equation is: $F_e-\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$ an equation of motion is: $F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ wherein F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is a number of pole pairs; F.sub.L is a total system disturbance; M is a mover mass; and B.sub.m is a viscous friction coefficient.

7. A control method for the side-by-side seamlessly fitting group of slide plates according to claim 1, comprising the following steps: S1: obtaining a tracking signal v.sub.1 after tracking differentiator (TD) transition of v.sub.r of the permanent magnet linear synchronous motor, and extracting a first-order differential signal v.sub.2 to implement a quick motion response of the slide plates; S2: using an extended state observer (ESO) to estimate in real time a system operating state and obtain observed values of a system disturbance comprising an internal disturbance y.sub.1 and an external system load disturbance y.sub.3, wherein the internal disturbance y.sub.1 is caused by changes in temperature, resistance, and inductance of the permanent magnet linear synchronous motor; S3: comparing v.sub.1, v.sub.2 respectively with an estimated value of y.sub.1 obtained by the ESO and a differential signal y.sub.2 based on a q-axis current i.sub.q of the permanent magnet linear synchronous motor to obtain error signals e.sub.1 and e.sub.2; S4: processing, by the ESO, an external load on the controlled object v.sub.r to obtain a real-time estimated value of y.sub.3 of an external system disturbance, using y.sub.3 to compensate for a disturbance of a control value u by an active feedback through u=u.sub.0(y.sub.3+f0(y.sub.1,y.sub.2)/b0, and forming a feedback structure with automatic compensation for the system disturbance to realize a dynamic linearization of an uncertain system; and S5: simultaneously inputting the error signals e.sub.1 and e.sub.2 into a fuzzy controller to obtain optimal parameters of NLSEF, and inputting the optimal parameters into the NLSEF to obtain a control value u.sub.0 of i.sub.q during an operation and compensate for various disturbances, wherein v.sub.r is a set output speed of the permanent magnet linear synchronous motor; v.sub.1 is a tracking signal of v.sub.r; v.sub.2 is a differential signal of v.sub.r; u.sub.0 is a control value of i.sub.q during a system operation; u is a compensated control value; y.sub.1 is a tracking signal of v; v is a real-time mover speed of the permanent magnet linear synchronous motor collected by a rotary encoder; y.sub.2 is a differential signal of y.sub.1; y.sub.3 is an observed value of the external system load disturbance; and f.sub.0(y.sub.1,y.sub.2) is a known internal system disturbance.

8. The control method according to claim 7, wherein in the steps S1 to S5, a control system of a plurality of permanent magnet linear synchronous motors connected in parallel receives an instruction signal from a host computer, and operating states of the plurality of permanent magnet linear synchronous motors are independent of each other.

9. The side-by-side seamlessly fitting group of slide plates according to claim 2, further comprising a fuzzy active disturbance rejection controller, wherein the fuzzy active disturbance rejection controller is configured to control a position tracking accuracy of the permanent magnet linear synchronous motor by the following steps: step 1: specifying an input to be manipulated of a controlled system being a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system being a q-axis current i.sub.q* of the permanent magnet linear synchronous motor; step 2: establishing a mathematical model of the permanent magnet linear synchronous motor to determine an order of the fuzzy active disturbance rejection controller; step 3: defining an interference signal of the controlled system through various known and unknown components; and step 4: designing and combining a fuzzy logic with NLSEF in the fuzzy active disturbance rejection controller, and adjusting online parameters of the NLSEF to implement a quick response of a group of slide plates.

10. The side-by-side seamlessly fitting group of slide plates according to claim 3, further comprising a fuzzy active disturbance rejection controller, wherein the fuzzy active disturbance rejection controller is configured to control a position tracking accuracy of the permanent magnet linear synchronous motor by the following steps: step 1: specifying an input to be manipulated of a controlled system being a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system being a q-axis current i.sub.q* of the permanent magnet linear synchronous motor; step 2: establishing a mathematical model of the permanent magnet linear synchronous motor to determine an order of the fuzzy active disturbance rejection controller; step 3: defining an interference signal of the controlled system through various known and unknown components; and step 4: designing and combining a fuzzy logic with NLSEF in the fuzzy active disturbance rejection controller, and adjusting online parameters of the NLSEF to implement a quick response of a group of slide plates.

11. The side-by-side seamlessly fitting group of slide plates according to claim 4, further comprising a fuzzy active disturbance rejection controller, wherein the fuzzy active disturbance rejection controller is configured to control a position tracking accuracy of the permanent magnet linear synchronous motor by the following steps: step 1: specifying an input to be manipulated of a controlled system being a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system being a q-axis current i.sub.q* of the permanent magnet linear synchronous motor; step 2: establishing a mathematical model of the permanent magnet linear synchronous motor to determine an order of the fuzzy active disturbance rejection controller; step 3: defining an interference signal of the controlled system through various known and unknown components; and step 4: designing and combining a fuzzy logic with NLSEF in the fuzzy active disturbance rejection controller, and adjusting online parameters of the NLSEF to implement a quick response of a group of slide plates.

12. The side-by-side seamlessly fitting group of slide plates according to claim 9, wherein the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is: $\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$ an electromagnetic thrust equation is: $F_e-\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$ an equation of motion is: $F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ wherein F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is a number of pole pairs; F.sub.L is a total system disturbance; M is a mover mass; and B.sub.m is a viscous friction coefficient.

13. The side-by-side seamlessly fitting group of slide plates according to claim 10, wherein the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is: $\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$ an electromagnetic thrust equation is: $F_e-\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$ an equation of motion is: $F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ wherein F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is a number of pole pairs; F.sub.L is a total system disturbance; M is a mover mass; and B.sub.m is a viscous friction coefficient.

14. The side-by-side seamlessly fitting group of slide plates according to claim 11, wherein the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is: $\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$ an electromagnetic thrust equation is: $F_e-\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$ an equation of motion is: $F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ wherein F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is a number of pole pairs; F.sub.L is a total system disturbance; M is a mover mass; and B.sub.m is a viscous friction coefficient.

15. The control method according to claim 7, wherein in the side-by-side seamlessly fitting group of slide plates, stop blocks are respectively arranged at two ends of the permanent magnet linear synchronous motor, a first side of each of the stop blocks is adjacent to the permanent magnet linear synchronous motor and fixedly connected to a respective end of the linear slide rail, a second side of each of the stop blocks is adjacent to the slider and provided with a rubber block, and the rubber block is adapted to the linear slide rail.

16. The control method according to claim 7, wherein in the side-by-side seamlessly fitting group of slide plates, the linear slide rail is provided with linear grooves along a length direction on two sides of the linear slide rail, the slider is provided with ridges on two sides of an inner wall of the slider, and the ridges are slidably connected to the linear grooves respectively.

17. The control method according to claim 7, wherein in the side-by-side seamlessly fitting group of slide plates, the adjusting member comprises wedge grooves respectively provided on bottom surfaces of the slide plates, wedge blocks are slidably connected inside the wedge grooves respectively, bottom surfaces of the wedge blocks respectively extend out of the wedge grooves and are arranged on a strip plate, two hydraulic rods are rotatably connected to the top side of the frame, and an output end of each of the two hydraulic rods is fixedly connected to a bottom surface of the strip plate.

18. The control method according to claim 7, wherein the side-by-side seamlessly fitting group of slide plates further comprises a fuzzy active disturbance rejection controller, wherein the fuzzy active disturbance rejection controller is configured to control a position tracking accuracy of the permanent magnet linear synchronous motor by the following steps: step 1: specifying an input to be manipulated of a controlled system being a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system being a q-axis current i.sub.q* of the permanent magnet linear synchronous motor; step 2: establishing a mathematical model of the permanent magnet linear synchronous motor to determine an order of the fuzzy active disturbance rejection controller; step 3: defining an interference signal of the controlled system through various known and unknown components; and step 4: designing and combining a fuzzy logic with nonlinear state error feedback (NLSEF) in the fuzzy active disturbance rejection controller, and adjusting online parameters of the NLSEF to implement a quick response of a group of slide plates.

19. The control method according to claim 18, wherein the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is: $\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$ an electromagnetic thrust equation is: $F_e-\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$ an equation of motion is: $F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ wherein F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is a number of pole pairs; F.sub.L is a total system disturbance; M is a mover mass; and B.sub.m is a viscous friction coefficient.

20. The control method according to claim 15, wherein in the steps S1 to S5, a control system of a plurality of permanent magnet linear synchronous motors connected in parallel receives an instruction signal from a host computer, and operating states of the plurality of permanent magnet linear synchronous motors are independent of each other.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG. 1 is a schematic structural diagram of the present disclosure.

[0037] FIG. 2 is a schematic structural diagram of a single slide plate module according to the present disclosure.

[0038] FIG. 3 is an enlarged view of A in FIG. 2 of the present disclosure.

[0039] FIG. 4 is a structural diagram of fuzzy active disturbance rejection control according to the present disclosure.

[0040] FIG. 5 is a structural diagram of concurrent control on a group of slide plates according to the present disclosure.

[0041] Reference numerals: 1. frame; 2. support rod; 3. support plate; 4. permanent magnet linear synchronous motor; 5. linear slide rail; 6. slider; 7. mounting plate; 8. slide plate; 9. connecting plate; 10. grating ruler; 11. light transmission hole; 12. stop block; 13. rubber block; 14. linear groove; 15. ridge; 16. wedge groove; 17. wedge block; 18. strip plate; 19. hydraulic rod.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In the following description, numerous specific details are given in order to provide a more thorough understanding of the present disclosure. However, it is apparent to persons skilled in the art that the present disclosure can be implemented without one or more of these details. In other examples, some technical features that are well known in the art are not described in order to avoid confusion with the present disclosure.

[0043] As shown in FIG. 1 and FIG. 2, a side-by-side seamlessly fitting group of slide plates includes a frame 1. A support rod 2 is horizontally arranged on a top side of the frame 1. A plurality of support plates 3 are rotatably connected to an outer side of the support rod 2. A permanent magnet linear synchronous motor 4 is arranged on a top surface of each of the plurality of support plates 3. A linear slide rail 5 is arranged on a top surface of the permanent magnet linear synchronous motor 4. A slider 6 is slidably connected to an outer side of the linear slide rail 5. A mounting plate 7 is arranged on a top surface of the slider 6. A respective slide plate 8 of the slide plates 8 is threadedly connected to a top surface of the mounting plate 7, and sides of two adjacent ones of the slide plates 8 seamlessly fit to each other. A bent end of the mounting plate 7 extends to a side surface of the permanent magnet linear synchronous motor 4 and is threadedly connected to a connecting plate 9. The connecting plate 9 is fixedly connected to a side surface of a mover of the permanent magnet linear synchronous motor 4. A grating ruler 10 is provided at a bottom side of the permanent magnet linear synchronous motor 4. An end of the connecting plate 9 away from the slider 6 extends to a bottom side of the grating ruler 10 and is provided with a light transmission hole 11. An adjusting member for adjusting an angle of the slide plates 8 is arranged on the top side of the frame.

[0044] As shown in FIG. 1 and FIG. 2, a position controller processes the difference between a grating feedback position signal of the permanent magnet linear synchronous motor 4 and a position setting instruction and outputs a speed instruction. A speed controller processes the difference between a speed feedback value and the speed instruction and outputs a current instruction. A current controller processes the difference between a current feedback value and the current setting instruction and outputs a signal to an inverter. A three-phase alternating current is input into a primary winding of the permanent magnet linear synchronous motor 4 to generate a traveling wave magnetic field in the air gap. The traveling wave magnetic field interacts with the excitation magnetic field generated by a permanent magnet to form an electromagnetic force, enabling the mover to perform linear motion. The mover drives the slider 6 to slide back and forth along the linear slide rail 5, causing the slide plate 8 to reciprocate linearly in sync. It overcomes problems such as long drive chain, low transmission efficiency, and poor working stability in the linear motion process of a driven element, which is carried out by a conventional rotating motor with a transmission mechanism composed of chains, gears, and other components.

[0045] As shown in FIG. 2, stop blocks 12 are respectively arranged at two ends of the permanent magnet linear synchronous motor 4. A side of each of the stop blocks 12 closer to the permanent magnet linear synchronous motor 4 is fixedly connected to a respective end of the linear slide rail 5. A side of each of the stop blocks 12 closer to the slider 6 is provided with a rubber block 13, and the rubber block 13 is adapted to the linear slide rail 5. The slider 6 is limited by the stop blocks 12, and the rubber pads playing a role of buffer protection prevent the slider 6 from directly contacting the stop blocks 12.

[0046] As shown in FIG. 3, the linear slide rail 5 is provided with linear grooves 14 along a length direction on two sides of the linear slide rail 5, and the slider 6 is provided with ridges 15 on two sides of an inner wall of the slider 6. The ridges 15 are slidably connected to the linear grooves 14 respectively, preventing the slider 6 from detaching from the linear slide rail 5.

[0047] As shown in FIG. 1 and FIG. 2, the adjusting member includes wedge grooves 16 respectively provided on bottom surfaces of the slide plates 8, and wedge blocks 17 are slidably connected inside the wedge grooves 16 respectively. Bottom surfaces of the wedge blocks 17 respectively extend out of the wedge grooves 16 and are arranged on a strip plate 18. Two hydraulic rods 19 are rotatably connected to the top side of the frame, and an output end of each of the two hydraulic rods 19 is fixedly connected to a bottom surface of the strip plate 18. The strip plate 18 is pushed by the two hydraulic rods 19, causing the wedge blocks 17 to slide in the wedge grooves 16 at the bottom surfaces of the slide plates 8 respectively, so that the slide plates 8 rotate to have their angles adjusted and the universality of the group of slide plates 8 is improved.

[0048] As shown in FIG. 4, the direct drive mode of the permanent magnet linear synchronous motor to achieve zero transmission causes uncertain factors such as load changes, nonlinear friction, thrust fluctuations, and external interference to directly act on the mover of the permanent magnet linear synchronous motor, which deteriorates the position tracking accuracy of the permanent magnet linear synchronous motor. Therefore, a fuzzy active disturbance rejection controller is designed based on the permanent magnet linear synchronous motor to improve the position tracking accuracy of the permanent magnet linear synchronous motor. The design method includes the following steps. [0049] Step 1: It is specified that an input to be manipulated of a controlled system is a set mover speed v of the permanent magnet linear synchronous motor and an output of the controlled system is a q-axis current iq* of the permanent magnet linear synchronous motor. [0050] Step 2: A mathematical model of the permanent magnet linear synchronous motor is established to determine the order of the fuzzy active disturbance rejection controller. [0051] Step 3: An interference signal of the controlled system is defined through various known and unknown components. [0052] Step 4: A fuzzy logic is designed and is combined with NLSEF in the fuzzy active disturbance rejection controller, and parameters of the NLSEF are adjusted online to implement a quick response of the group of slide plates.

[0053] Specifically, the mathematical model of the permanent magnet linear synchronous motor in a d-q-axis rotating coordinate system in the step 2 is:

[00004]$\{\begin{array}{c}\frac{{\mathrm{di}}_d}{\mathrm{dt}}=\left(u_d-R_s{i}_d+L_{\mathrm{sq}}{i}_q\frac{}{}v\right)/L_{\mathrm{sd}}\\ \frac{{\mathrm{di}}_q}{\mathrm{dt}}=\left(u_q-R_s{i}_q+L_{\mathrm{sd}}{i}_d\frac{}{}v-{}_f\frac{}{}v\right)/L_{\mathrm{sq}}\\ \frac{\mathrm{dv}}{\mathrm{dt}}=\frac{3n_p\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)}{2M}{i}_d{i}_q+\frac{3n_p{}_f}{2M}-\frac{F_L}{M}-\frac{B_m}{M}v\end{array}$

[0054] An electromagnetic thrust equation is:

[00005]$F_e=\frac{3}{2}{n}_p\left[{}_f{i}_q+\left(L_{\mathrm{sd}}-L_{\mathrm{sq}}\right)i_d{i}_q\right]$

[0055] An equation of motion is:

[00006]$F_e-F_L=M\frac{\mathrm{dv}}{\mathrm{dt}}+B_{m}v$ [0056] where F.sub.e is an electromagnetic thrust; u.sub.d, u.sub.q, i.sub.d, i.sub.q are a d-axis voltage component, a q-axis voltage component, a d-axis current component, and a q-axis current component respectively; R.sub.s is an armature winding resistance; v is a mover speed; L.sub.sd, L.sub.sq are a d-axis inductance and a q-axis inductance respectively; .sub.f is a permanent magnet flux linkage; is a permanent magnet pole pitch; n.sub.p is the number of pole pairs; F.sub.L is total system disturbance; M is mover mass; and B.sub.m is a viscous friction coefficient.

[0057] A control method for the side-by-side seamlessly fitting group of slide plates is described below. As shown in FIG. 4, the specific control process of the control method includes the following steps. [0058] S1: A tracking signal v.sub.1 is obtained after TD transition of v.sub.r of the permanent magnet linear synchronous motor, and a first-order differential signal v.sub.2 is extracted to implement a quick motion response of the slide plates. [0059] S2: An ESO is used to estimate in real time the system operating state and obtain observed values of a system disturbance including an internal disturbance y.sub.1 and an external system load disturbance y.sub.3, where the internal disturbance y.sub.1 is caused by changes in temperature, resistance, and inductance of the permanent magnet linear synchronous motor. [0060] S3: v.sub.1, v.sub.2 are respectively compared with an estimated value of y.sub.1 obtained by the ESO and a differential signal y.sub.2 based on the q-axis current i.sub.q of the permanent magnet linear synchronous motor to obtain error signals e.sub.1 and e.sub.2. [0061] S4: An external load on the controlled object v.sub.r is processed by the ESO to obtain a real-time estimated value of y.sub.3 of an external system disturbance, y.sub.3 is used to compensate for a disturbance of a control value u by an active feedback through u=u.sub.0(y.sub.3+f0(y.sub.1,y.sub.2))/b0, and a feedback structure with automatic compensation for the system disturbance is formed to realize a dynamic linearization of an uncertain system. [0062] S5: The error signals e.sub.1 and e.sub.2 are simultaneously input into a fuzzy controller to obtain optimal parameters of the NLSEF, and the optimal parameters are input into the NLSEF to obtain a control value u.sub.0 of i.sub.q during an operation and compensate for various disturbances.

[0063] v.sub.r is a set output speed of the permanent magnet linear synchronous motor; v.sub.1 is a tracking signal of v.sub.r; v.sub.2 is a differential signal of v.sub.r; u.sub.0 is a control value of i.sub.q during a system operation; u is a compensated control value; y.sub.1 is a tracking signal of v; v is a real-time mover speed of the permanent magnet linear synchronous motor collected by a rotary encoder; y.sub.2 is a differential signal of y.sub.1; y.sub.3 is an observed value of the external system load disturbance; f.sub.0(y.sub.1,y.sub.2) is a known internal system disturbance; and i.sub.q* is a set q-axis current.

[0064] To cope with thrust fluctuations caused by the fact that the permanent magnet linear synchronous motor is directly connected to a load and is sensitive to load changes, a speed loop regulator of the permanent magnet linear synchronous motor is improved by designing a fuzzy active disturbance rejection controller in the above control method. Therefore, vector control and fuzzy active disturbance rejection control strategies are integrated, the advantages of fuzzy control and active disturbance rejection control are combined, and fuzzy rules are used to compensate for NLSEF. By inputting a tracking error signal and its differential signal into the fuzzy active disturbance rejection controller, active disturbance rejection control parameters are modified online with the fuzzy control rules to meet the requirements on the active disturbance rejection control parameters during the reciprocating motion of the slide plates. The controller has a simple structure and can cope with problems such as input signal smoothing, motion disturbance, and difficulty in matching parameters caused by strict requirements on the accuracy, stability, and quick response of the motion system, so that the system has higher accuracy and robustness.

[0065] As shown in FIG. 5, in the steps S1 to S5, a control system of multiple permanent magnet linear synchronous motors connected in parallel receives an instruction signal from a host computer, and operating states of the multiple permanent magnet linear synchronous motors are independent of each other, realizing random combinations of the slide plates in motion and achieving a control effect that the slide plates do not interfere with each other and any combination of the slide plates can cooperate and move together. Therefore, the system has high positioning accuracy, simple mechanical structures, high efficiency and energy-saving characteristics, quick response, and high stability. Each slide plate can not only respond independently, but also form a group with any other slide plates for joint response. The random combinations of the slide plates can achieve quick response at various positions to meet the requirements under different loads and effectively eliminate the impact of the load on the robustness of the entire system. In FIG. 5, v.sub.r is a speed instruction output by the position controller after processing the difference between the grating feedback position signal of the motor and the position setting instruction; and v.sub.i, F.sub.i are a real-time speed and external system load disturbance of the i.sup.th motor mover (i=1, 2, 3, . . . , N), respectively.

[0066] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Various equivalent changes can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and these equivalent changes all fall within the protection scope of the present disclosure.