基于模型扰动抑制的直线伺服电机滑模鲁棒控制

Study of Sliding Mode Robustness Control Based on Model Disturbance Attenuation for Linear Servo Motor

针对直接驱动的交流永磁直线电机直接驱动伺服系统,提出一种将模型扰动抑制方法和滑模控制相结合构成的鲁棒跟踪控制策略.滑模控制器保证了系统对给定的快速跟踪性能;而模型扰动抑制补偿器在很大程度上抑制了速度闭环系统内的各种扰动(包括负载及直线电机的端部效应力等),从而削弱滑模控制的抖振对系统稳态性能的影响.仿真结果表明该方案在保证伺服系统的快速性同时,对系统参数变化和阻力扰动具有很强的鲁棒性.

A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control for a direct drive AC permanent-magnet linear motor servo system is presented. The control scheme solves the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure that the system has fast tracking abihty to command. The H∞ robustness controller greatly suppresses the disturbances within the close loop （including the load and the end effect force of linear motor etc.）, and effectively minimizes the chattering of shding mode control which influence the steady state performance of the system. Some simulation results show that this control scheme can enhance the track-command-ability and the robustness of the linear servo system, with stronger robustness to parameter variations and disturbance resistance.