H型运动平台的时变非奇异快速终端滑模控制

Time-Varying Non-Singular Fast Terminal Sliding Mode Control of H-Shaped Motion Stages

针对以伺服电机和滚珠丝杠作为传动机构的H型运动平台系统位移跟踪控制存在的难点,设计了一种基于时变非奇异快速终端滑模控制器的控制方案。在滑模控制器设计阶段,提出一种新的滑模面幂指数时变方法,以加快系统状态的收敛速度;针对H型运动平台Y向两轴位移同步误差的控制问题,运用同步误差和单轴误差相结合作为控制器输入的方式减小了两轴位移误差。以仿真实验验证了提出的时变幂指数方法可提升系统状态的收敛速度,证明了相较于PID控制和一种滑模PID控制方式,采用本文提出的时变非奇异快速终端滑模控制方案后,H型运动平台单轴运动误差和双轴同步误差更小、误差波动幅度更小。

Aiming at the difficulty of displacement tracking control of H-type motion stage system with servo motor and ball screw as transmission mechanism,this paper designs a control scheme based on time-varying non-singular fast terminal sliding mode controller.In the design stage of the sliding die controller,a new time-varying method of power exponential of the sliding die surface is proposed to speed up the convergence of the system state.The proposed time-varying power exponential method is verified by simulation experiments to improve the convergence speed of the system state,and it is demonstrated that the single-axis motion error and the two-axis synchronization error of the H-type motion platform are smaller and the error fluctuation is smaller after adopting the time-varying non-singular fast terminal sliding mode control scheme proposed in this paper compared with PID control and a sliding mode PID control method.