永磁环形力矩电机的离散二阶滑模控制

Discrete-time Second-order Sliding Mode Control for Permanent-magnet Ring Torque Motor

针对高精度五轴联动数控机床中主轴头复合A/C轴直接驱动永磁环形力矩电机伺服系统易受负载扰动和参数变化影响的特点,采用离散二阶滑模设计了位置控制器。控制律采用二阶滑模预设收敛律算法,二阶滑模将不连续控制作用于变量的高阶微分上,理论上可消除抖振。理论分析与仿真结果表明,所采用的控制策略使伺服系统具有很强的位置跟踪性能,而且对负载干扰和参数变化等不确定性具有很强的鲁棒性,同时削弱了抖振。

For the characteristics of compound A/C axe direct drive permanent magnet ring torque motor servo system in high precision five axes module numerical control machine suffering from varying of load and variables, the position controller is proposed by using discrete time second order sliding mode. Control law is a- chieved by prescribed convergence law algorithm of second order sliding mode. The discontinuous control effects on the higher differential, and eliminate the chattering phenomenon theoretically. Theoretical analysis and simulation results show that the designed method enables servo system to have strong position-tracking performance, and have very strong robustness against load disturbances, parameters varieties and other uncertainties, and chattering phenomenon is reduced.