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永磁直线同步电机的互补滑模变结构控制

, PP. 2552-2557

Keywords: 永磁直线同步电机,滑模变结构控制器,互补滑模变结构控制器,鲁棒性,跟踪误差

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Abstract:

针对永磁直线同步电动机伺服系统易受参数变化、外部扰动、非线性摩擦及固有的端部效应等不确定性因素影响,提出了一种互补滑模变结构控制方法。建立了含有不确定性的直线伺服电机运动系统的动态模型,采用广义滑模面和互补滑模面相结合的方法设计了互补滑模变结构控制器,从理论上分析证明了此控制器可以保证系统跟踪误差的收敛性,抑制不确定性因素,提高系统瞬态响应速度,进而有效地减小了跟踪误差。同时选择饱和函数作为切换函数,降低了滑模控制(slidingmodecontrol,SMC)的抖振现象。最后,通过系统实验表明了所提出的控制方法是有效可行的,与传统SMC相比,基于互补滑模控制(complementaryslidingmodecontrol,CSMC)的系统具有快速准确的跟踪性能和鲁棒性能,明显地减小了系统的跟踪误差。

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