永磁同步直线电机自适应反演滑模控制

Adaptive Backstepping Sliding Mode Control for Permanent Magnet Synchronous Linear Motor

针对永磁同步直线电机系统的非线性、强耦合、多变量的特点,以及容易受参数变化和外界扰动的影响,提出了一种基于幂指数切换控制律的自适应反演滑模控制方法。采用sigmoid函数替代符号函数,有效地抑制了滑模控制的抖振现象。设计了三次多项式S型速度规划,并将该速度规划作为伺服系统的指令位置输入。仿真与实验结果表明,与传统的三闭环PID控制相比,自适应反演滑模控制具有较好的响应性能、跟踪性能和鲁棒性强、定位精度高,很好地满足高速高精度的运动要求。

Aiming at the nonlinear,strong coupling and multivariable characteristics of permanent magnet synchronous linear motor system,as well as being easily affected by parameter changes and external disturbances,an adaptive backstepping sliding mode control method based on power exponential switching control law is proposed.The sigmoid function is used to replace the sign function,which effectively suppresses the chattering phenomenon of the sliding mode control.A cubic polynomial S-shaped velocity planning is designed,and the velocity planning is used as the command position input of the servo system.The simulation and experimental results show that,compared with the traditional three-closed-loop PID control,the adaptive backstepping sliding mode control has better response performance,tracking performance,strong robustness and high positioning accuracy;and it can well meet the requirements of high-speed and high-precision motion.