永磁直线同步电机自适应反推全局快速终端滑模控制

Adaptive Backstepping Global Fast Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor

针对永磁直线同步电机(PMLSM)伺服系统位置跟踪精度易受参数变化、负载扰动、摩擦力等不确定性因素影响的问题,提出自适应反推全局快速终端滑模控制(ABGFTSMC)方法。首先,建立含有不确定性的PMLSM动态数学模型。然后,采用反推控制将复杂的非线性系统分解成低阶子系统,并利用全局快速终端滑模控制将系统状态快速收敛到平衡点,提高系统的响应速度,增强系统的鲁棒性;再结合自适应控制实时调整切换控制增益值,以便获得合适的切换增益,从而削弱了抖振现象。从理论上证明了该控制方案能够使系统获得快速收敛性和良好的跟踪性。最后,通过系统实验证明了所提出的控制方案不仅具有更快的收敛性,而且具有更快的跟踪性和更强的鲁棒性。

The position tracking accuracy of permanent magnet linear synchronous motor(PMLSM)servo system is easily affected by uncertain factors,such as parameters change,load disturbance and friction and so on.Therefore,an adaptive backstepping global fast terminal sliding mode control(ABGFTSMC)method is proposed.Firstly,the PMLSM dynamic mathematical model with uncertainty is established.Then,the complex nonlinear system is decomposed into low order subsystems by the backstepping control,and the state of the system is rapidly converged to the equilibrium point by the global fast terminal sliding mode control,which can improve the response speed and robustness of the system.In order to obtain the appropriate switching gain,the chattering phenomenon is reduced by adjusting the gain value of the switching control with adaptive control in real time.It is proved theoretically that the control scheme can make the system obtain fast convergence and good tracking performance.Finally,the system experiments show that the proposed control scheme not only has faster convergence,but also has faster tracking and stronger robustness.