Robust Simple Adaptive Control of PMLSM Based on Command Generation Tracker

LEI Zijia; JIN Hongyan; {{custom_author.name_en}}

doi:10.13334/j.0258-8013.pcsee.250347

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Robust Simple Adaptive Control of PMLSM Based on Command Generation Tracker

更新时间：2026-10-12

- Robust Simple Adaptive Control of PMLSM Based on Command Generation Tracker
- Vol. 46, Issue 6, Pages: 2566-2575(2026)
- 作者机构：
  
  沈阳工业大学电气工程学院,辽宁省,沈阳市,110870
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.250347
  CLC：
- Received：20 March 2026，
  
  Published：2026
- 稿件说明：
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LEI Zijia, JIN Hongyan, {{custom_author.name_en}}. Robust Simple Adaptive Control of PMLSM Based on Command Generation Tracker[J]. 2026, 46(6): 2566-2575.
DOI：

LEI Zijia, JIN Hongyan, {{custom_author.name_en}}. Robust Simple Adaptive Control of PMLSM Based on Command Generation Tracker[J]. 2026, 46(6): 2566-2575. DOI： 10.13334/j.0258-8013.pcsee.250347.

摘要

针对永磁直线同步电机(permanent magnet linear synchronous motor，PMLSM)驱动的数控机床进给系统在运行过程中受外部环境和负载扰动影响，出现定位精度较低、位置跟踪不准确的问题，设计一种基于命令发生跟踪器(command generation tracker，CGT)的鲁棒简单自适应控制(robust simple adaptive control，RSAC)方法。首先，建立PMLSM数学模型，并在系统建模中引入加速度影响下的Stribeck效应，改进摩擦力模型；其次，设计不依赖精确模型的RSAC方法，用于克服系统中的不确定性，从而提高鲁棒性。针对RSAC中参数选取困难的问题，设计可以观测状态量的CGT，能够自适应调节RSAC的参数，进一步提高系统的位置跟踪精度。最后，通过仿真和实验对摩擦力扰动进行观测，并分析系统在多种位置跟踪信号下的跟随性和鲁棒性。结果证明，该方法能够有效克服系统不确定性，达到减小跟踪误差的预期效果，满足精密加工工况下的跟随性好、鲁棒性强的要求。

Abstract

In order to solve the problems of low positioning accuracy and inaccurate position tracking in the feed system of CNC machine driven by the permanent magnet linear synchronous motor (PMLSM)

a robust simple adaptive control (RSAC) method based on the command generation tracker (CGT) is designed. Firstly

the PMLSM mathematical model is established

and the Stribeck effect under acceleration is introduced into the system modeling to improve the friction model. Secondly

the RSAC method that does not depend on the exact model is designed to overcome the uncertainty in the system

so as to improve the robustness. To overcome the difficulty in parameter selection in RSAC

a CGT with observable state variables is designed

which can adaptively adjust the parameters of RSAC and further improve the position tracking accuracy of the system. Finally

the friction disturbance is observed through the simulation and experiment

and the tracking performance and robustness of the system under a variety of position tracking signals are analyzed. The experimental results show that this method can effectively handle the system uncertainty

achieve the expected tracking error reduction

and meet the requirements of good tracking performance and strong robustness under precision machining conditions.

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