永磁直线同步电机的互补滑模变结构控制

发布时间：2018-08-23 09:49

【摘要】：针对永磁直线同步电动机伺服系统易受参数变化、外部扰动、非线性摩擦及固有的端部效应等不确定性因素影响,提出了一种互补滑模变结构控制方法。建立了含有不确定性的直线伺服电机运动系统的动态模型,采用广义滑模面和互补滑模面相结合的方法设计了互补滑模变结构控制器,从理论上分析证明了此控制器可以保证系统跟踪误差的收敛性,抑制不确定性因素,提高系统瞬态响应速度,进而有效地减小了跟踪误差。同时选择饱和函数作为切换函数,降低了滑模控制(sliding mode control,SMC)的抖振现象。最后,通过系统实验表明了所提出的控制方法是有效可行的,与传统SMC相比,基于互补滑模控制(complementary sliding mode control,CSMC)的系统具有快速准确的跟踪性能和鲁棒性能,明显地减小了系统的跟踪误差。
[Abstract]:A complementary sliding mode variable structure control method is proposed for the servo system of permanent magnet linear synchronous motor (PMLSM), which is susceptible to uncertainties such as parameter variation, external disturbance, nonlinear friction and inherent end effect. The dynamic model of linear servo motor motion system with uncertainty is established. The complementary sliding mode variable structure controller is designed by combining the generalized sliding mode surface with the complementary sliding mode surface. It is proved theoretically that the controller can ensure the convergence of tracking error, restrain the uncertain factors, improve the transient response speed of the system, and reduce the tracking error effectively. At the same time, the saturation function is chosen as the switching function to reduce the chattering phenomenon of sliding mode control (sliding mode control. Finally, the system experiments show that the proposed control method is effective and feasible. Compared with the traditional SMC, the system based on complementary sliding mode control (complementary sliding mode control has fast and accurate tracking performance and robust performance. The tracking error of the system is obviously reduced.
【作者单位】：沈阳工业大学电气工程学院;
【基金】：国家自然科学基金项目(51175349) 辽宁省教育厅科学技术研究项目(L2013060) 沈阳市科技计划项目(F12-277-1-70)~~
【分类号】：TM341

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