永磁直线电机二阶非奇异快速终端滑模控制∗

摘要

Because of the permanent magnet linear motor servo system is vulnerable to be influenced by many uncertain factors ,such as the parameter variations and load disturbance, put forward a kind of higher-order nonsingular fast terminal sliding mode control method to design the displacement control of the perma-nent magnet linear motor . The algorithm is designed to avoid the singular area of terminal sliding mode and improve the convergence speed,so as to solve the singularity of the terminal sliding mode and speed problem of slow convergence. Using super twisting law of second-order sliding mode control put the discontinuous control on the higher order differential variables, in order to weaken the chattering of the system . Simulation results show that the strategy not only make the system has better capability of position and strong robust-ness, but also weaken the chattering of the system effectively.%针对永磁直线电机伺服系统易受参数变化和负载扰动、端部效应等不确定因素影响的问题，提出一种二阶非奇异快速终端滑模控制方法来设计永磁直线电机位移控制器。该算法设计上避免了终端滑模的奇异区并且提高了其收敛速度，从而解决原有终端滑模的奇异性和速度收敛缓慢的问题。利用二阶滑模超螺旋控制律将不连续的控制作用在变量的高阶微分上，以削弱系统抖振现象。仿真结果表明，该策略不仅使系统具有较好的定位能力和很强的鲁棒性，同时还有效地削弱了系统的抖振现象。