摘要
针对高精度永磁直线同步电动机伺服系统容易受摩擦力、负载扰动和参数变化等不确定性因素的影响,提出了一种自适应反推滑模控制(ABSMC)和多阶段速度规划(MVP)相结合的控制方法。建立了含有不确定性的永磁同步直线电动机(PMLSM)数学模型,采用反推设计方法,并通过滑模控制和李雅普诺夫函数设计自适应律,从理论上证明了该控制器抑制了不确定性因素,保证系统的鲁棒性和快速跟踪性。为进一步减小瞬时超调量,对每个阶段的速度滑模函数进行设计,采用MVP,利用切换控制来改变系统的控制模式,达到高精度定位控制。最后系统实验结果表明,所提出的控制方案是可行有效的,提高了PMLSM的定位精度,减小了瞬时超调量。
Combining adaptive backstepping sliding mode control （ABSMC） with multi-segment velocity planning （MVP） method for the high precision permanent magnet linear synchronous motor （PMLSM） servo system which is vulnerable to influence of the uncertainties, such as the friction force, the load disturbances and parameter variations. The dynamic model of the PMLSM with the uncertainties was established,and the adaptive law was designed by using backstepping control method, conventional sliding mode control and Lyapunov function. It is proved theoretically that the proposed controller can inhibit the uncertainty factors and guarantee robust performance and rapid tracking capability. In order to further reduce the transient overshoot, the velocity sliding mode function of each stage was designed. MVP and switching control is used to change the system control mode and achieve the high-precision position control. The system experiment results confirm the effectiveness and feasibility of the control scheme. The position accuracy of PMLSM is improved and the transient overshoot is reduced.
出处
《电工技术学报》
EI
CSCD
北大核心
2018年第3期662-669,共8页
Transactions of China Electrotechnical Society
基金
国家自然科学基金项目(51175349)
辽宁省自然科学基金计划重点项目(20170540677)资助
关键词
永磁同步直线电动机
自适应反推滑模控制
多阶段速度规划
不确定性
超调量
Permanent magnet linear synchronous motor, adaptive backstepping sliding mode control, multi-segment velocity planning, uncertainty, overshoot
