永磁直线同步电机自适应互补滑模控制

摘要

An adaptive complementary sliding mode control is proposed to solve the problem that the servo system of permanent magnet linear synchronous motor(PMLSM) is vulnerable to be affected by the nonlinear factors.The nonlinear factors of PMLSM include the variations of system parameter,the inherent end effect of motor,and the disturbance of the external uncertainty.Complementary sliding mode control combined the integral sliding surface and generalized error sliding surface,and the system state trajectory was defined in the intersection of two faces.Therefore,it shortened the time of the state trajectory to reach the sliding mode surface,and improved the position tracking accuracy.In order to further improve the robust tracking performance of the system,adaptive control was proposed to estimate the upper bound of uncertain disturbance factors.It can reduce the influence of the uncertain factors on the system,and improve the chattering phenomenon of sliding mode control.The experimental results show that the proposed control method is feasible and effective,and adaptive complementary sliding mode control not only improves the tracking performance of the system,but also effectively reduces the effects of uncertainty on the control system.%针对永磁直线同步电机(PMLSM)易受非线性因素影响而降低伺服系统鲁棒性的问题,提出一种自适应互补滑模控制方法.永磁直线同步电机的非线性因素包括系统参数变化、电机端部效应及外部不确定性的扰动.互补滑模控制将积分滑模面与广义误差滑模面相结合,将系统状态轨迹限定在两个面的交线上,缩短了状态轨迹达到滑模面的时间,提高了位置跟踪精度.为了进一步改善系统鲁棒跟踪性能,利用自适应控制对不确定扰动因素的上界进行估计,减小不确定因素对系统的影响,改善滑模控制的抖振现象.实验结果表明所提出的控制方法是有效可行的,自适应互补滑模控制不仅提高了系统的跟踪性能,而且更有效地抑制了不确定因素对控制系统的影响.