永磁同步直线电机的滑模变结构位置控制系统设计

The Design of Sliding Mode Variable Structure Position Control System for Permanent Magnet Linear Motor

针对多变量、非线性、强耦合的永磁同步直线电机(PMLSM)系统设计了一种位置控制器。弥补了常规PID控制跟踪精度不高的缺点,利用滑模变结构非线性、鲁棒性和跟踪精度高的控制特点设计了基于变指数趋近律的滑模控制器,并通过PMLSM运动系统在半实物仿真平台RT-LAB上进行仿真实验。结果表明:与常规PID控制器相比,应用滑模控制器不仅能很好地跟踪参考位置信号,而且跟踪误差减小了40%左右,有效提高了PMLSM运动系统的跟踪精度。

For multi-variable, nonlinear and strong coupled of permanent magnet synchronous linear motor(PMLSM), a position controller was designed. In order to make up for the traditional PID control shortcomings of low tracking accuracy, the design of a sliding mode variable structure position controller applying on PMLSM was proposed. The proposed sliding mode controller is based on the variable exponential approach law and has the characteristics of nonlinear, robust and high tracking accuracy. Simulation experiments were conducted on the semi-physical simulation platform RT-LAB through the PMLSM motion system. Experimental results demonstrated that the proposed controller is capable of position tracking with the tracking error reduced by about 40 % compared with its PID counterpart. These results prove the effectiveness of the proposed controller for high-precision position control of the PMLSM.