带积分补偿器的永磁直线同步电机滑模控制研究

Sliding mode control with integral compensator structure for permanent magnet linear synchronous machine

为了解决传统滑模变结构中存在的高频抖振现象和抗扰动能力较低问题,提出了在控制对象前端引入积分环节的带补偿器方案。在对永磁直线同步电机(PMLSM)的数学模型进行分析的基础上建立了位置环滑模变结构控制状态方程和等效控制模型,提出了更为精确全面的控制参数和等效模型参数的确定方法;以平板式直线永磁同步电机的电机参数为例进行了计算机仿真实验,仿真结果验证了带积分补偿器结构的可行性和有效性。研究结果表明,与传统的滑模变结构相比较,带积分补偿器结构能够较好地克服系统受外力干扰和负载变化所产生的振荡现象,有效地削弱了滑模变结构的抖振现象;通过分析可知,该结构还能克服系统动子质量和永磁铁磁链的扰动产生的系统振荡,提高系统的鲁棒性和控制精度。

Aiming at solving the high-frequency chattering and low anti-disturbance capacity in conventional variable structure control （VSC）method with sliding mode, a compensator scheme by introducing integral structure before control object was proposed. Based on the analysis of the permanent magnet linear synchronous machine （PMLSM）mathematical model, the position loop VSC state equations and equivalent control model were established and more accurate and comprehensive method for determining the control parameters and the equivalent model parameters was analyzed. Computer simulation with the motor parameters of a plate PMLSM verifies the feasibility and effectiveness of the compensator structure. The results indicate that the proposed structure, compared with the conventional VSC, can solve the vibration caused by external disturbance and load variations, and attenuate effectively the chattering. Through the analysis, the proposed structure can also overcome the system oscillations generated by mover mass and permanent magnet flux linkage, and improve the robustness and control precision of the system.