永磁直线电机的滑模控制与非线性效应补偿

Sliding Mode Control and Nonlinear Effect Compensation of Permanent Magnet Linear Motor

永磁直线电机(PMLM)伺服系统易受外部扰动、非线性效应等不确定性因素的影响,传统的PID控制方法难以获得满意的控制效果。针对上述问题,提出基于饱和指数趋近律的滑模控制与非线性效应补偿的控制策略,采用滑模控制来提高系统的鲁棒性和稳定性,加入速度、加速度前馈提高系统的响应时间,并针对PMLM的非线性效应对系统的定位精度影响较大,对力的波动、摩擦力进行补偿,提高系统的动态性能。采用上述控制策略在MATLAB仿真平台进行分析,研究结果表明,提出的控制策略可以改善PMLM伺服系统的动态性能,提高系统的稳定性、鲁棒性与定位精度。

The permanent magnet linear motor(PMLM) servo system is susceptible to external disturbances, nonlinear effects and other uncertain factors. It is difficult using the traditional PID control method to obtain satisfactory control effects. Aiming at the above problems, a control strategy is proposed based on saturation index approach law for sliding mode control and nonlinear effect compensation. Sliding mode control was used to improve the robustness and stability of the system. Speed and acceleration feed-forward were added to improve the response time of the system. The nonlinear effects of PMLM have a great influence on the positioning accuracy of the system, and force fluctuation and friction force were compensated to improve the dynamic performance of the system. The above control strategy were used in the analysis based on MATLAB simulation platform. The results show that the proposed control strategy can improve the dynamic performance of the PMLM servo system and improve the stability, robustness and positioning accuracy of the system.