复合干扰下永磁球形电机的全阶滑模控制

Full-Order Sliding Mode Control of Permanent Magnet Spherical Actuator Under Lumped Disturbances

针对受外部干扰和模型不确定性影响的永磁球形电机运动系统,提出一种基于有限时间干扰观测器的全阶滑模控制方法。首先,在复合干扰下建立永磁球形电机的动力学模型,其不确定性包括建模误差和外界干扰。其次,设计有限时间干扰观测器以快速、准确地估计出系统的复合干扰。然后,为永磁球形电机设计了全阶滑模面,理想滑模运动时反映其全阶动态特性,而不是传统滑模控制系统中的降阶动态特性。最后,通过李雅普诺夫定理证明了所提控制方法的闭环系统的稳定性。仿真和实验结果表明所提控制器在复合干扰情况下具有良好的动态特性和抗干扰能力。

A finite-time disturbance observer based full-order sliding-mode control(FTDO-FOSMC)method is proposed for the permanent magnet spherical actuator(PMSA)motion system affected by external disturbances and model uncertaintys,First,the dynamic model of the PMSA is established.The uncertainty includes modeling errors and external disturbances.Second,a finite time disturbance observer is designed to quickly and accurately estimate the system’s lumped disturbances.Third,a full-order sliding mode surface is designed for the permanent magnet spherical actuator,which reflects its full-order dynamic characteristics when the ideal sliding mode moves,instead of the reduced-order dynamic characteristics in the traditional sliding mode control system.Finally,the stability of the closed-loop system of the proposed control method is proved by Lyapunov’s theorem.The simulation and experiment results show that the proposed controller has good dynamic characteristics and anti-disturbance ability under lumped disturbances.