二维直线电机的无模型高阶滑模解耦控制

Model free high order sliding mode decoupling control for two-dimensional linear motor

针对二维直线电机运动系统存在的非线性、多变量、不确定性以及强耦合作用对控制精度的影响,提出一种无模型高阶滑模解耦控制方法。以紧格式动态线性化无模型控制技术为基础,设计一种数据驱动滑模面并验证滑模面的渐进稳定性;利用高阶滑模控制思想设计高阶滑模控制律,对二维直线电机XY轴进行整体控制,减小位置跟踪误差,并进行稳定性和收敛性证明。采用自适应解耦控制策略,设计离散扩张状态观测器对系统两轴间耦合、未建模动态和未知外部干扰进行估计和补偿,进一步实现系统的解耦。仿真和实物实验结果表明,所提方案能够有效提高二维直线电机的位置控制精度。

Aiming at the influences of nonlinearity,multivariable,uncertainty and strong coupling on the control accuracy of two-dimensional linear motor motion system,a model free high order sliding mode decoupling control method was proposed.Based on the compact format dynamic linearization model free control technology,a data-driven sliding mode surface was designed and its asymptotic stability was verified.By using the high order sliding mode control strategy,a high order sliding mode control law was designed to control the XY axis of the two-dimensional linear motor,to reduce the position tracking error,the stability and convergence were proved.Applying the adaptive decoupling control strategy,a discrete extended state observer was designed to estimate and compensate the coupling between the two axes,unmodeled dynamics and unknown external disturbances,so as to further realize the decoupling of the system.The simulation and physical experiment results show that the proposed scheme can effectively improve the position control accuracy of two-dimensional linear motor.