直线电机轨迹跟踪系统快速终端滑模控制

Fast Terminal Sliding Mode Control of Precision Linear Motor Trajectory Tracking System

为提高永磁同步直线电机伺服系统的控制精度和鲁棒性,满足高速度高精度运动控制系统的要求,提出了一种快速终端滑模控制方法并建立了电机系统数学模型。分析和证明该控制算法的稳定性和鲁棒性。与传统的滑模控制方法相比,该算法确保了系统状态在平衡点邻域内具有更快的收敛速度,并最终收敛至平衡点。通过选择控制算法中合适的参数值,系统可达到很高的控制精度。此外,该方法属于连续控制从而避免了系统控制输入震颤现象的出现。仿真实验结果表明,该方法能够快速稳定地跟踪目标轨迹并保持较高的跟踪精度,可显著提高直线电机轨迹跟踪运动系统性能,适用于半导体光刻工作台、引线键合系统等精密运动控制系统。

A fast terminal sliding mode control algorithm is proposed to improve the trajectory tracking performance of an ironless permanent magnet linear synchronous motor system. The control law is deslgnen based on the motor system dynamic model. The control stability and robustness are proved and analyzed. The system state is guaranteed to have a faster convergence speed around the equilibrium neighborhood using the proposed control technique, and can converge to the equilibrium eventually. If choosing suitable values of the control parameters are chosen, a high accuracy of the system can be achieved. Furthermore, the chattering is avoidable since the continuous control method. Computer simulation results show that the proposed control scheme can achieve better tracking performance and robustness compared with other control algorithm.