复合滑模控制在精密PMLSM激光切割运动平台的应用

发布时间：2018-04-23 20:49

本文选题：永磁直线同步电机 + 复合滑模控制　；参考：《光学精密工程》2017年01期

【摘要】：针对永磁直线同步电机激光切割运动平台的位置伺服控制低抖振、高精度、强鲁棒的要求,在传统双幂次滑模趋近律的基础上,提出一种变边界层的双幂次滑模趋近律带滑模扰动观测器的复合趋近律滑摸控制方法。变边界层方法是对控制系统的控制精度要求和降低抖振的权衡,而所提出的方法又继承了传统双幂次滑模趋近律方法的有限时间收敛特性。为了降低控制系统设计的保守性,设计了一种基于超螺旋算法的滑模扰动观测器对系统的未知扰动进行估计,并在此算法中添加一个幂指数,通过仿真实验证明了提高幂指数的数值可加快未知扰动的估计值的收敛速度。结合Lyapunov稳定性理论,证明了闭环系统的稳定性。最后,搭建了用于激光切割的永磁直线同步电机平移试验台对所提出的控制器进行测试。实验结果表明:本文所提出的控制器的位置跟踪误差不超过1μm,且误差波动较小,能够满足伺服控制系统的要求。
[Abstract]:In view of the requirements of low buffeting, high precision and strong robustness for position servo control of permanent magnet linear synchronous motor laser cutting motion platform, based on the traditional double-power sliding mode approach law, This paper presents a hybrid approach law sliding control method with sliding mode disturbance observer for double power sliding mode approach law with variable boundary layer. The variable boundary layer method is a tradeoff between the control precision requirement and buffeting reduction of the control system. The proposed method inherits the finite time convergence characteristic of the traditional double-power sliding mode approach law method. In order to reduce the conservatism of the design of the control system, a sliding mode perturbation observer based on the superspiral algorithm is designed to estimate the unknown disturbance of the system, and a power exponent is added to the algorithm. The simulation results show that increasing the power exponent can accelerate the convergence rate of the estimated value of the unknown disturbance. Combined with Lyapunov stability theory, the stability of closed loop system is proved. Finally, a permanent magnet linear synchronous motor (PMLSM) translation test bench for laser cutting is built to test the proposed controller. The experimental results show that the position tracking error of the proposed controller is less than 1 渭 m, and the error fluctuation is small, which can meet the requirements of servo control system.
【作者单位】：西北工业大学自动化学院;中国科学院长春光学精密机械研究所;
【基金】：国家自然科学基金资助项目(No.51407143) 高等学校博士学科点专项科研基金资助项目(No.20136102120049) 陕西省自然科学基础研究计划资助项目(No.2014JQ7264) 陕西省微特电机及驱动技术重点实验室开放基金资助项目(No.2013SSJ10022) 中央高校基本科研业务费专项资金资助项目(No.3102014JCQ01066)
【分类号】：TP273;TM341

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