基于SSA的关节电机无模型自适应滑模控制

Model-Free Adaptive Sliding Mode Control of Joint Motor Based on SSA

针对永磁同步电机驱动的外骨骼关节伺服系统跟踪精度低、易受参数摄动、外部扰动等不确定因素影响的问题,提出了基于SSA的无模型自适应终端滑模位置控制方法。首先,建立关节电机新型超局部模型,改进指数趋近律引入终端滑模面对系统位置-转速环进行控制;其次,引入自适应律对新型超局部模型中不确定参数部分进行估计,并利用Lyapunov稳定性定理证明该控制方法的可行性;最后,与PD控制以及传统滑模控制进行仿真对比实验,结果表明所提方法加强了系统鲁棒性和抗干扰能力,提高了系统动态和稳态性能。

Aiming at the problems that the exoskeleton joint servo system driven by permanent magnet synchronous motor has low tracking accuracy and is easily affected by uncertain factors such as parameter perturbation and external disturbance, this paper proposes a model-free adaptive terminal sliding mode position control method based on SSA.Firstly, a new hyperlocal model of the joint motor is established and the improvement index is approaching the law to introduce terminal sliding model to face the system position-speed ring to control;Secondly, an adaptive law is introduced to estimate the uncertain parameter in the novel ultra-local model, and the feasibility of the control method is proved by Lyapunov stability theorem;Finally, compared with PD control and traditional sliding mode control simulation experiments, the results show that the proposed method enhances the system robustness and anti-interference ability, and improves the dynamic and steady-state performance of the system.