EN基于扰动观测器和改进自适应二阶快速终端滑模的PMLSM伺服系统控制
PMLSM servo system control based on disturbance observer and improved adaptive second order fast terminal sliding mode
- 电机与控制学报 2024年28卷第4期 页码：41-49
- 作者机构：
沈阳工业大学 电气工程学院，辽宁 沈阳 110870
- 作者简介：
通信作者赵希梅
李德豪（1999—），男，硕士研究生，研究方向为直线电机及其控制；
金鸿雁（1993—），女，博士，讲师，研究方向为直线伺服、智能控制等。
- 基金信息：辽宁省博士科研启动基金计划资助项目(2022-BS-177);辽宁省科技厅揭榜挂帅项目(2023JI1/11100004)
DOI：10.15938/j.emc.2024.04.005
中图分类号： TM351;TP273收稿：2022-11-29，
纸质出版：2024-04
- 稿件说明：
移动端阅览
赵希梅, 李德豪, 金鸿雁. 基于扰动观测器和改进自适应二阶快速终端滑模的PMLSM伺服系统控制[J]. 电机与控制学报, 2024,28(4):41-49.
ZHAO Ximei, LI Dehao, JIN Hongyan. PMLSM servo system control based on disturbance observer and improved adaptive second order fast terminal sliding mode[J]. Electric Machines and Control, 2024, 28(4): 41-49.
赵希梅, 李德豪, 金鸿雁. 基于扰动观测器和改进自适应二阶快速终端滑模的PMLSM伺服系统控制[J]. 电机与控制学报, 2024,28(4):41-49. DOI： 10.15938/j.emc.2024.04.005.
ZHAO Ximei, LI Dehao, JIN Hongyan. PMLSM servo system control based on disturbance observer and improved adaptive second order fast terminal sliding mode[J]. Electric Machines and Control, 2024, 28(4): 41-49. DOI： 10.15938/j.emc.2024.04.005.
摘要
针对永磁直线同步电动机（PMLSM）在运行时易受到摩擦力、负载扰动及环境变化等不确定影响，设计一种基于扰动观测器和自适应二阶快速终端滑模控制方法。首先，该方法在高阶滑模的基础上结合了快速终端滑模控制，有效加快了系统响应速度。其次，在二阶滑模面的基础上引入条件积分项，该项仅作用于边界层内部，能够有效避免滑模到达阶段由于积分饱和现象导致的超调量过大及响应时间过慢的问题。此外，设计自适应切换控制律，使切换增益在合理的区间内，并根据系统状态进行实时更新，从而削弱抖振现象。最后，为进一步提升系统的鲁棒性，采用扰动观测器对PMLSM系统的集总不确定性进行补偿。经实验验证，该控制方法具有良好的位置跟踪精度和强鲁棒性，且对系统抖振现象有明显削弱作用。
Abstract
Permanent magnet linear synchronous motor（PMLSM）is vulnerable to uncertain influences such as friction，load disturbance and environmental changes during operation. A fast terminal sliding mode control method based on disturbance observer and adaptive second-order was designed. Firstly，the method combined the fast terminal sliding mode control on the basis of high-order sliding mode，which effectively accelerated the system response speed. Secondly，a conditional integral term was introduced on the basis of the second-order sliding surface，which only acted inside the boundary layer，and could effectively avoid the problem of excessive overshoot and too slow response time caused by integral saturation in the sliding mode arrival stage. In addition，an adaptive switching control law was designed to make the switching gain within a reasonable interval and update in real time according to the system state，thereby weakening the chattering phenomenon. Finally，in order to further improve robustness of the system，the disturbance observer was used to compensate the lumped uncertainty of the PMLSM system. The experimental results show that the control method has good position tracking accuracy and strong robustness，and can significantly weaken the chattering phenomenon of the system.
关键词
Keywords
references
张康,王丽梅.基于周期性扰动学习的永磁直线电机自适应滑模位置控制[J].电机与控制学报, 2021, 25(8): 132.
ZHANG Kang, WANG Limei. Adaptive sliding mode position control for permanent magnet linear motor based on periodic disturbance learning[J]. Electric Machines and Control, 2021, 25(8):132.
沈燚明,卢琴芬.初级励磁型永磁直线电机研究现状与展望[J].电工技术学报, 2021, 36(11): 2325.
SHEN Yiming, LU Qinfen. Overview of permanent magnet linear machines with primary excitation[J]. Transactions of China Electrotechnical Society, 2021, 36(11): 2325.
吕刚.直线电机在轨道交通中的应用与关键技术综述[J].中国电机工程学报, 2020,40(17): 5665.
LÜ Gang. Review of the application and key technology in the linear motor for the rail transit[J]. Proceedings of the CSEE, 2020, 40(17): 5665.
DINH T X, AHN K K. Radial basis function neural network based adaptive fast nonsingular terminal sliding mode controller for piezo positioning stage[J]. International Journal of Control Automation and Systems, 2017, 15(7): 2892.
徐驰,赵希梅.永磁直线同步电动机智能递归非奇异终端滑模控制[J].控制理论与应用,2022,39(7):1242.
XU Chi, ZHAO Ximei. Intelligent recursive nonsingular terminal sliding mode control of permanent magnet linear synchronous motor[J]. Control Theory & Applications, 2022, 39(7): 1242.
高洁,王华宇,徐萌.开关磁阻电机的分数阶终端滑模控制[J].电机与控制学报,2022,26(2):142.
GAO Jie, WANG Huayu, XU Meng. Improved terminal sliding mode control strategy of switched reluctance motors based on fractional calculus[J]. Electric Machines and Control, 2022, 26 (2):142.
WANG Liang, SHENG Yongzhi, LIU Xiangdong. A novel adaptive high-order sliding mode control based on integral sliding mode[J]. International Journal of Control, Automation and Systems, 2014, 12: 459.
RABIEE H, ATAEI M, EKRAMIAN M. Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer for uncertain nonlinear systems[J]. Automatica, 2019, 109: 108515.
UTKIN V. Discussion aspects of high-order sliding mode control[J]. IEEE Transactions on Automatic Control,2016,61(3):829.
KOMMURI S K, RATH J J, VELUVOLU K C, et al. Decoupled current control and sensor fault detection with second-order sliding mode for induction motor[J]. IET Control Theory & Applications, 2015, 9(4):608.
SONG Zhuoyue, DUAN Chao, WANG Jianan, et al. Chatteringfree full-order recursive sliding mode control for finite-time attitude synchronization of rigid spacecraft[J]. Journal of the Franklin Institute, 2018, 356(2): 998.
XIANG Xianbo, LIU Chao, SU Housheng, et al. On decentralized adaptive full-order sliding mode control of multiple UAVs[J]. ISA Transactions, 2017, 71(2): 196.
SANJOY M, JAWHAR G, MAAROUF S. Homogeneous finitetime consensus control for higher-order multi-agent systems by full order sliding mode[J]. Journal of Systems Science and Complexity, 2018, 31(5): 1186.
CONG Binglong, CHEN Zhen, LIU Xiangdong. On adaptive sliding mode control without switching gain-over estimation[J]. International Journal of Robust and Nonlinear Control, 2014, 24 (3): 515.
GUO Fuhui, LU Pingli. Fast self-adapting high-order sliding mode control for a class of uncertain nonlinear systems[J]. Journal of Systems Engineering and Electronics, 2021, 32(3): 690.
0
浏览量
189
下载量
1
CSCD
- 网络PDF下载
- Meta-XML下载
- BibTeX下载
- Endnote下载
- RefMan 下载
- NoteExpress下载
- NoteFirst下载
关联资源
相关文章
相关作者
相关机构
AI问答- 技术支持由北京北大方正电子有限公司提供 京ICP备09064830号-19
京公网安备11010802024621 - 本系统建议在Chrome、 IE9+ 以上版本浏览器阅读本站内容，360浏览器请切换至极速模式
- Cookies帮助我们提供服务并提供个性化体验。使用本网站，即表示您同意我们使用Cookies