摘要
针对永磁直线同步电机伺服系统的位置控制,其控制精度易受系统参数变化和负载扰动等因素的影响,提出了基于扩展状态观测器和非奇异快速终端滑模控制相结合的复合策略。首先,采用非奇异快速终端滑模算法设计位置控制器,能够保证系统状态在有限时间到达滑模面并收敛到零,扩展状态观测器用以对负载扰动进行估计;此外,引入逻辑函数形式的时变增益来确定系统的不确定性,以提高控制系统收敛的平滑度;最后,仿真结果表明与非奇异快速终端滑模算法相比,提出的复合控制算法能提高控制系统的跟踪精度、增强系统的鲁棒性能、改善系统的动态品质。
Based on extended state observers,a composite non-singular fast terminal sliding mode control strategy is proposed for the position control of Permanent Magnet Linear Synchronous Motor servo system,whose control accuracy is easily affected by factors such as system parameters variation and load disturbance.To begin with,using a non-singular fast terminal sliding mode control method to design controller can ensure the system state reaches its sliding mode surface within a limited time and then converges zero within a limited time.And the extended state observer is used to estimate load disturbance.Besides,a time-varying gain in the form of logistic functions is introduced to improve the smoothness of convergence.Finally,the simulation result shows that compared to the terminal sliding mode control method,the non-singular fast terminal sliding mode control method effectively improves the tracking accuracy of the control system,enhances the robust performance of the system,and improves the dynamic quality of the system.
作者
索宇超
张博
周达
杨永宝
牟明川
SUO Yu-chao;ZHANG Bo;ZHOU Da;YANG Yong-bao;MOU Ming-chuan(School of Electronics and Information,Xi′an Polytechnic University,Xi′an 710600,China;Nanjing SAC Vaimet Automation Co.,Ltd.,Nanjing 210000,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第12期77-80,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然基金(11705135)
西安市青年托举计划(095920201324)。
关键词
永磁直线同步电机
非奇异快速终端滑模
时变增益
动态品质
permanent magnet linear synchronous motor
non-singular fast terminal sliding mode
time-varying gain
dynamic quality
