基于二阶滑模的永磁直线同步电机的鲁棒速度控制

Robust Speed Control of Permanent-Magnet Linear Synchronous Motor Based on the Second Order Sliding Mode

针对受参数不确定性、端部效应和负载扰动影响的永磁直线同步电机的鲁棒速度控制问题,采用二阶滑模控制的超螺旋算法来设计速度控制器,并利用基于二阶滑模的鲁棒数字微分器来估计二阶滑模控制算法所需要的加速度信号。该策略并没有将不连续控制作用在滑模量的一阶微分上,而是作用于其高阶微分上,理论上可消除抖振作用。仿真和实验结果表明,该策略对负载和参数的变化具有很强的鲁棒性,同时有效地削弱了抖振现象。

Since the robust speed control of permanent-magnet linear synchronous motor is subjected to parameters uncertainties, end-effects and load disturbances, a speed controller is designed based on super-twisting algorithm which is one of the second order sling mode algorithms in this paper. And a robust digital differentiator is designed based on second order sliding mode to estimate the acceleration signal. In this strategy, the discontinuous control effects are acted on the higher order differential of the sliding mode in stead of the first order differential. Therefore the chattering phenomenon could be eliminated theoretically. The simulation and experiment results show that this strategy has very strong robustness against load disturbances and parameters varieties, and the chattering is attenuated availably.