PMLSM伺服系统自适应非奇异快速终端滑模控制

Adaptive Non-singular Fast Terminal Sliding Mode Control for PMLSM Servo System

针对永磁直线同步电动机(PMLSM)的位置跟踪精度易受外部扰动的影响,设计了一种自适应非奇异快速终端滑模控制(ANFTSMC)方法。建立PMLSM数学模型。为解决滑模控制(SMC)系统时会产生收敛速度慢、可能产生奇异性等问题,利用非奇异快速终端滑模控制(NFTSMC)解决该问题,保证系统收敛,既不产生奇异性又提高快速性。加入自适应律可以在线估计系统未知扰动的上界,提高系统的鲁棒性。通过仿真分析得出结论,与SMC和NFTSMC相比,ANFTSMC方法能解决收敛速度慢的问题,跟踪精度与鲁棒性亦有所提高。

The position tracking accuracy of permanent magnet linear synchronous motor(PMLSM)was easily affected by external disturbance,an adaptive non-singular fast terminal sliding mode control(ANFTSMC)method was designed.The mathematical model of PMLSM was established.In order to solve the problems such as slow convergence and possible singularity in sliding mode control(SMC)system,Non-singular fast terminal sliding mode control(NFTSMC)was used to solve problems,so as to ensure the system convergence without singularity and improve rapidity.The addition of the adaptive law to estimate the upper bound of the unknown disturbance could ensure the improvement of the robustness of the system.Through simulation analysis,it can be concluded that compared with SMC and NFTSMC,the method can solve the problem of slow convergence speed,and improve the tracking accuracy and robustness.