针对存在不确定参数、摩擦及外部扰动的永磁同步直线电机伺服系统,提出一种自适应软切换滑模位置控制策略.首先,将直线电机伺服系统的模型进行状态离散化;然后根据离散化的系统模型,设计一种切换增益自适应变化的滑模控制器;同时,对设计的闭环控制系统进行稳定性分析,并利用正切函数代替符号函数,进一步改善系统的性能;最后通过仿真实验将此方案与经典PID控制及滑模控制进行比较,仿真结果验证了此方案具有更好的跟踪性能和对不确定扰动的鲁棒性.%Focusing on the effects of parameter uncertainties, fiction, and external disturbances existed in the permanent magnet linear motor servo systems, a kind of adaptive soft switching sliding mode position control scheme was proposed. The discretization state space mode of the linear motor servo systems was obtained. Then, the sliding mode controller with adaptive switching gain was designed on the discretization state space system mode. Next, the stability of the designed closed-loop control system was analyzed and the performance of the system was further improved by using the tangent function instead of the symbolic function. Finally, the simula-tion results show that the proposed scheme has better performance than classical PID control and sliding mode control.
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