基于滑模控制的永磁同步平面电机三自由度定位控制器设计

Design of Three-degree-of-freedom Position Controller for Permanent Magnet Synchronous Planar Motor Based on Sliding Mode Control

为了提高永磁同步平面电机动子的定位精度,在合理假设的基础上建立了平面电机的三自由度简化动力学模型,建立了平面电机的运动控制模型,拟定了通过同时调节4组直线电机交轴电压以产生所需电磁推力的控制策略。基于改进的超螺旋算法,设计了X方向的位置伺服控制器,并对所建立的控制系统进行了仿真。仿真结果表明所采用的控制策略和控制算法使系统获得满意的定位精度的同时具有良好的鲁棒稳定性。

To improve the positioning accuracy of Permanent magnet synchronous planar motor （PM- SPM） mover, on the basis of analyzing the three-degree-of-freedom dynamic model of the mover and deriving the position coordinate transformation,a strategy of controlling 4 linear motors to generate the required three-degree-of-freedom motion was derived. In addition, based on the modified algorithm, the position sliding mode controller corresponding to the three-degree-of-freedom motion was designed. An PMSPM control system with the controller proposed was simulated. The Simulation results show that the control strategy and algorithms proposed can make the system with the desired performances and the control system has good robust stability.