基于2-SMC数控机床用PMSLM改进ADRC控制

Improving ADRC with PMSLM based on 2-SMC CNC machine tools

在二阶自抗扰控制(ADRC)的永磁同步直线电动机(PMSLM)速度伺服系统中,传统自抗扰中的扩张状态观测器参数众多且不易调节。为了提高自抗扰控制的直线伺服系统性能并使扩张观测器参数方便调节,提出采用二阶滑模变结构控制(2-SMC)思想设计扩张观测器。设计了二阶滑模平面并采用超螺旋算法使滑模平面收敛到零。二阶滑模有效地削弱了系统斗振现象。仿真结果表明:此种方案不但使参数调节变得容易,并且与自抗扰控制相比具有更好的抗扰能力与更快的响应速度。

In the speed servo control system of permanent magnet synchronous linear motor( PMSLM) based on second- order active disturbance rejection controller( ADRC),the extended state observer in traditional ADRC has too many parameters,and sometimes it's difficult to be regulated. In order to improve the performance of PMSLM and make the extended state observer's parameters easily to adjust,an extended state observer based on the principle of second order sliding mode control( 2- SMC) is proposed in this paper. The second order sliding surface is designed,and super- twisting algorithm is picked to make the sliding surface converging to zero. The chattering phenomenon in the second order sliding mode is eliminated effectively. Simulation results show that the proposed method not only makes parameters easily to adjust,but also has faster response speed and a better anti- interference ability compared with traditional ADRC.