直线伺服系统的二阶终端滑模控制

发布时间：2018-05-14 15:34

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》2016年硕士论文

【摘要】：现代数控机床正朝向高速、高精度、复合、智能、绿色环保的趋势发展。直接驱动伺服系统是数控机床领域研究的热点之一,本文以永磁直线同步电机伺服系统为研究对象,针对永磁直线同步电机直接驱动系统易受到自身参数变化、负载扰动、边端效应、摩擦力扰动等不确定因素影响的情况,对速度环的控制策略进行了研究,设计新颖的二阶终端滑模控制器,以提高直线伺服系统的鲁棒性、快速性,研究内容如下:首先,了解直线电机现代控制策略的国内外研究现状,并且详细介绍了永磁直线伺服系统,然后讨论了影响永磁直线同步电机伺服系统性能下降的主要扰动因素。其次,采用二阶改进终端滑模控制方法设计永磁直线电机的速度控制器以提高系统的响应速度和稳健性。设计改进终端滑模面,有效提高终端滑模的收敛速度。采用二阶滑模控制以降低改进终端滑模控制的抖振幅度。最后在理论分析的基础上,运用MATLAB/Simulink对所设计的控制系统进行建模与仿真分析,验证了所提出控制策略的有效性。最后,为进一步提高控制系统的快速响应和控制精度,设计了基于自适应螺旋算法的非奇异终端滑模控制系统。取自适应控制和二阶滑模控制二者的优点,实现螺旋算法控制增益的在线自适应调整,且无需知道控制增益的不确定边界,进一步削弱系统的抖振现象,从而提高了系统控制精度。在理论分析的基础上,运用MATLAB/Simulink对所设计的控制系统进行建模与仿真分析。并将其与二阶终端滑模控制策略的仿真结果做比较,证明基于自适应二阶非奇异终端滑模控制系统的控制精度更高,响应速度更快。
[Abstract]:Modern CNC machine tools are developing towards high speed, high precision, complex, intelligent, green and environmental protection. Direct drive servo system is one of the hot spots in the field of CNC machine tools. In this paper, the permanent magnet linear synchronous motor servo system is the research object, and the direct drive system of permanent magnet linear synchronous machine is easily subject to the change of its own parameters and the load disturbance. The control strategy of the speed loop is studied and a novel two order terminal sliding mode controller is designed to improve the robustness and rapidity of the linear servo system. The research contents are as follows: first, to understand the current research status of the modern control strategy of direct linear motor, and to discuss the status of the Research on the modern control strategy at home and abroad. The permanent magnet linear servo system is introduced and the main disturbance factors affecting the performance decline of the permanent magnet linear synchronous motor servo system are discussed. Secondly, the two order improved terminal sliding mode control method is used to design the speed controller of the permanent magnet linear motor in order to improve the response speed and robustness of the system. The convergence speed of the high terminal sliding mode. Two order sliding mode control is adopted to reduce the buffeting amplitude of the improved terminal sliding mode control. On the basis of the theoretical analysis, the MATLAB/Simulink is used to model and simulate the design of the control system, and the effectiveness of the proposed control strategy is verified. Finally, the control system is further improved. The non singular terminal sliding mode control system based on adaptive helix algorithm is designed, which is derived from the advantages of adaptive control and two order sliding mode control. It realizes the on-line adaptive adjustment of the control gain of the spiral algorithm without knowing the uncertain boundary of the control gain, and further weakens the chattering phenomenon of the system. The control precision of the system is improved. Based on the theoretical analysis, the MATLAB/Simulink is used to model and simulate the design of the control system. And compared with the simulation results of the two order terminal sliding mode control strategy, it is proved that the control precision of the adaptive two order non singular terminal sliding mode control system is higher and the response speed is better. Fast.

【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TG659

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