基于固定时间干扰观测器的永磁直线同步电机位移跟踪动态面反步控制

Dynamic surface backstepping control for the displacement tracking of permanent magnet linear synchronous motor based on fixed-time disturbance observer

针对存在参数摄动、负载扰动和未建模动态等不确定因素的永磁直线同步电机(PMLSM)位移系统,提出了一种基于固定时间干扰观测器的动态面反步控制方法。首先,通过构造干扰观测器对系统的非匹配不确定项和匹配不确定项进行观测估计,且其观测误差能够在固定时间内收敛于0;其次,将反步控制与动态面控制相结合完成PMLSM固定时间位移跟踪控制器的设计,有效避免了常规反步控制存在的“微分爆炸”问题,并简化了系统控制器的设计过程。理论分析表明,PMLSM位移系统在本文所提控制方法的作用下能够在固定时间内收敛。最后,与其他控制方法进行了仿真对比研究,仿真结果验证了所提方法的有效性。

For the permanent magnet linear synchronous motor(PMLSM)with uncertain factors such as parameter perturbation,load disturbance,unmodeled dynamics,and so on,a dynamic surface backstepping control method is proposed based on the fixed-time disturbance observer.Firstly,the disturbance observers are developed to observe the mismatched uncertainty and matched uncertainties of the system,and the observation errors can converge to 0 in fixed time.Secondly,the fixed-time displacement tracking controllers for PMLSM are presented by combining the backstepping control with dynamic surface control,which avoids the‘differential explosion’problem during using the conventional backstepping control,and simplifies the design processes of the system controllers.Theoretical analysis shows that the PMLSM displacement system can converge in fixed time under the action of the proposed control method.Finally,the simulation results verify the effectiveness of the proposed control method through comparing with other control methods.