永磁直线同步电机终端二阶滑模控制

发布时间：2018-04-22 12:41

本文选题：永磁直线同步电机 + 终端滑模控制　；参考：《沈阳工业大学》2015年硕士论文

【摘要】：以永磁直线同步电机直接驱动伺服系统为研究对象，针对系统运行中容易受到自身参数变化、负载扰动、端部效应、摩擦力扰动等不确定因素影响的特点，为提高系统的鲁棒性、快速性等性能，以滑模控制理论为基础，对永磁直线同步电机的终端二阶滑模控制进行了研究，具体工作如下：首先，归纳总结了永磁直线同步电机伺服系统的构成及其工作原理，并且分析了永磁直线同步电机的结构、工作原理，在此基础上建立了永磁直线同步电机的简化数学模型，根据系统的特点分析了永磁直线同步电机伺服系统的不确定性影响因素。其次，在介绍了高阶滑模和终端滑模控制理论的基础上，采用二阶非奇异快速终端滑模控制方法，设计非奇异快速终端滑模变量，从而使终端滑模奇异性的问题得到有效解决。同时该滑模变量的设计还使系统状态在距离平衡点较近时的系统收敛速度得到了显著的提高，从而提高系统全局收敛速度。控制律采用二阶滑模控制的超螺旋算法，以削弱系统的抖振现象。仿真结果表明，，二阶非奇异快速终端滑模控制不仅提高了系统的响应速度，使系统具有很好的鲁棒性，而且削弱了系统抖振，使系统具有良好的定位精度。最后，将直接自适应控制算法与二阶滑模控制的超螺旋控制算法相结合，实现了超螺旋算法控制增益的在线自适应调整，克服了超螺旋算法控制增益的调节需要知道不确定边界的局限性，提高了系统控制性能。设计非奇异终端滑模变量有效的解决了终端滑模的奇异性问题。仿真结果表明，自适应二阶非奇异终端滑模控制器在永磁直线同步电机伺服系统受到自身参数变化、负载扰动、摩擦力扰动等的情况下，提高了系统削弱抖振的能力，具有很好的定位能力和鲁棒性。
[Abstract]:In order to improve the robustness and fast performance of the system, in order to improve the robustness and fast performance of the system, the permanent magnet linear synchronous motor drives the servo system as the research object, which is easily influenced by the uncertainties of its parameters, load disturbance, end effect, friction disturbance and so on. On the basis of sliding mode control theory, the permanent magnet linear synchronous motor (PMSM) is used. The terminal two order sliding mode control is studied.
First, the structure and working principle of permanent magnet linear synchronous motor servo system are summed up, and the structure and working principle of permanent magnet linear synchronous motor are analyzed. On this basis, the simplified mathematical model of permanent magnet linear synchronous motor is established, and the uncertainty of permanent magnet linear synchronous motor servo system is analyzed according to the characteristics of the system. Influencing factors.
Secondly, on the basis of the introduction of high order sliding mode and terminal sliding mode control theory, the two order non singular fast terminal sliding mode control method is used to design a non singular fast terminal sliding mode variable, so that the problem of terminal sliding mode singularity can be solved effectively. At the same time, the design of the sliding mode variable also makes the system state in the distance to the equilibrium point. The convergence speed of the system is greatly improved and the global convergence speed of the system is improved. The control law uses the super spiral algorithm of two order sliding mode control to weaken the chattering phenomenon of the system. The simulation results show that the two order non singular fast terminal sliding mode control not only improves the response speed of the system, but also makes the system very robust, and the system has good robustness. The chattering is weakened and the system has good positioning accuracy.
Finally, combining the direct adaptive control algorithm with the super spiral control algorithm of the two order sliding mode control, the on-line adaptive adjustment of the control gain of the super helix algorithm is realized, and the limitation of the control gain of the super helix algorithm is overcome. The control performance of the system is improved and the control performance of the system is improved. The non singular terminal sliding mode variable is designed. The singularity problem of the terminal sliding mode is effectively solved. The simulation results show that the adaptive two order non singular terminal sliding mode controller improves the ability of the system to weaken the chattering, and has good positioning ability and robustness in the case of the permanent magnet linear synchronous motor servo system under the condition of its own parameters change, load disturbance, friction disturbance and so on.

【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;TM341

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