永磁直线电机自适应反推滑模鲁棒跟踪控制

Adaptive Backstepping Sliding Mode Robust Tracking Control for Permanent Magnet Linear Synchronous Motor

针对高速高精伺服系统,考虑永磁直线同步电机(PMLSM)参数变化、外部负载扰动和摩擦力等不确定因素对系统伺服性能的影响,设计自适应反推滑模控制器(ABSMC)。由系统位置、速度误差建立滑模面,利用反推理论推导出反推滑模控制律。实际应用中不确定确界未知,通过设计自适应律修正不确定确界观测值。经分析验证,并与反推滑模控制相比,自适应反推滑模算法在保证系统全局一致渐进稳定情况下,能很好抑制不确定因素对系统性能的影响,对参考指令位置跟踪鲁棒性强,同时抖振得到明显削弱。

In view of high speed and precise servo systems, an adaptive backstepping sliding mode controller （ABSMC） was proposed considering the influence of the lumped uncertainties with parameter variations, external force disturbances and frictions for permanent magnet linear synchronous motor （PMLSM）. A sliding mode surface was constructed by means of system position and speed errors of PMLSM. A backstepping sliding mode control law was deduced by utilizing backstepping theory. In real applications, the lumped uncertainties are unknown and a backstepping sliding mode adaptive law was designed to revise the lumped uncertainties with parameter variations, external force disturbances and frictions for an actual PMLSM drive. The proposed algorithm was verified by simulation. Comparing with backstepping sliding mode control, the proposed algorithm has global asymtotic stability, and suppresses effectively the influence of the lumped uncertainties on system performances, and possess better robustness of position tracking for reference command as well as the chattering is weaken evidently.