摘要
针对永磁直线同步电机(PMLSM)伺服系统的位置跟踪精度易受参数变化、外部扰动等不确定性因素影响,该文提出了自适应非奇异快速终端滑模控制(ANFTSMC)方法。首先,建立含有不确定性的PMLSM动态模型。然后,采用非奇异快速终端滑模控制(NFTSMC)方法来抑制这些不确定因素的影响,避免了奇异性,进而保证了系统跟踪误差在有限时间内快速收敛,且削弱了抖振;同时,利用自适应控制估计系统中不确定性参数的上界,提高了系统的鲁棒性能。最后,通过实验验证了所提出控制方案的有效性,与SMC、NFTSMC相比,该方法在保证快速收敛性和跟踪精度的情况下,明显削弱了抖振现象,具有较强的鲁棒性能。
The position tracking accuracy of permanent magnet linear synchronous motor(PMLSM) servo system is easily affected by uncertainties such as parameter variation and external disturbance. Therefore, an adaptive nonsingular fast terminal sliding mode control(ANFTSMC) method was proposed. Firstly, the PMLSM dynamic model with uncertainty was established. Then, the nonsingular fast terminal sliding mode control(NFTSMC) method was used to suppress the influence of these uncertain factors and avoid the singularity, ensuring the system tracking error to converge quickly in a finite time and weakening the chattering. At the same time, the upper bound of uncertain parameters was estimated by adaptive control, which improved the robust performance of the system. Finally, the effectiveness of the proposed control scheme was verified by experiments. Compared with SMC and NFTSMC, this method significantly weakens the chattering phenomenon and has strong robust performance while ensuring fast convergence and tracking accuracy.
作者
付东学
赵希梅
Fu Dongxue;Zhao Ximei(School of Electrical Engineering Shenyang University of Technology,Shenyang 110870,China)
出处
《电工技术学报》
EI
CSCD
北大核心
2020年第4期717-723,共7页
Transactions of China Electrotechnical Society
基金
辽宁省自然科学基金计划重点项目(20170540677)
辽宁省教育厅科学技术研究项目(LQGD2017025)资助
关键词
永磁直线同步电机
自适应非奇异快速终端滑模控制
抖振
鲁棒性
Permanent magnet linear synchronous motor
adaptive nonsingular fast terminal sliding mode control
chattering
robustness
