永磁直线同步电动机的时滞自适应积分滑模控制

Time delay adaptive integral sliding mode control for permanent magnet linear synchronous motor

为了解决永磁直线同步电动机伺服系统易受参数变化、摩擦力等不确定量影响的问题。提出了一种将时滞控制(TDC)与自适应积分滑(PMLSM)模控制相结合的控制方案。首先,建立了含有系统不确定量的PMLSM数学模型;然后,通过在系统中引入时滞环节的方法,对输入信号延迟一个采样周期,采用TDC来消除不确定量对系统的影响,但是,TDC对系统中存在摩擦力等不连续的不确定量抑制效果较差,导致TDC过程中存在较大的时滞估计误差。为此,通过自适应积分滑模控制在线调节控制增益来补偿时滞估计误差,削弱抖振现象,进而提高系统的鲁棒性能。最后,通过系统实验验证了提出的控制方案是有效可行的。与TDC相比,不仅改善了系统的跟踪性,而且明显提高了系统的鲁棒性。

A control scheme combining time-delay control( TDC) with adaptive integral sliding mode control is proposed to solve the problem that the permanent magnet linear synchronous motor( PMLSM) servo system is sensitive to uncertainties,such as parameters variation,friction and so on. Firstly,the mathematical model of PMLSM with uncertainties was established. Then,by adding a time delay link in the system,the input signal was delayed by a sampling period,and the TDC was used to eliminate the influence of the uncertainties in the system,but the TDC had poor suppression effect on discontinuous uncertainties,such as friction and so on. So there was a large time delay estimation error during the process of TDC. Therefore,the adaptive integral sliding mode control was used to compensate the error and weak the chattering phenomenon by adjusting the control gain,and the robustness of the system was improved.Finally,the proposed control scheme is proved to be effective and feasible by the system experiment.Compared with TDC,it improves the tracking performance of the system,and improves the robustness of the system obviously.