永磁直线同步电机的自适应增量滑模控制

Adaptive Incremental Sliding Mode Control for Permanent Magnet Linear Synchronous Motor

针对永磁直线同步电机(PMLSM)直接驱动伺服系统易受参数变化、外部扰动、端部效应等不确定性因素的影响,提出了一种自适应增量滑模控制(AISMC)方法。通过利用系统先前的状态信息和控制动作来设计增量滑模控制器,同时选择饱和函数作为切换函数,不仅削弱了抖振,而且提高了系统的跟踪性能。然后利用自适应控制来观测和补偿参数变化与外部扰动等不确定性因素的影响,并对不确定性参数的界限进行实时估计,设计出自适应增量滑模控制器。从理论上分析证明了此控制器可以保证系统收敛,具有快速的收敛速度,提高了直线伺服系统的跟踪性能。通过系统实验,证明了所提出的AISMC方案的有效性,与滑模控制(SMC)相比,基于AISMC的系统具有较强的鲁棒性和精确的跟踪性,明显削弱了抖振现象。

Adaptive incremental sliding mode control （ AISMC ） method was proposed for permanent magnet linear synchronous motor（ PMLSM） direct-drive servo system which is vulnerable to influence of the uncertainties, such as parameter variations, external disturbances, end effect and so on. Incremental sliding mode controller was designed by utilizing previous state information and control action, and adopting the saturated function to replace the switching function. The proposed controller can reduce chattering and improve tracking performance of the system. Then, adaptive control was used to observe and compensate influence of the uncertainties, such as parameter variations, external disturbances and so on, while estimating the bound of uncertain parameters instantly. Adaptive incremental sliding mode controller was investigated. From the theoretical analysis, the proposed controller was proved to guarantee the convergence of the system and have high convergence speed, which can improve the tracking performance of the linear servo system. The system experimental results confirmed effectiveness and feasibility of the proposed AISMC scheme. Compared with sliding mode control （ SMC ） , the system based on AISMC has stronger robustness and more accurate tracking performance, meanwhile, chattering phenomenon is obviously reduced.