基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制

赵希梅; 李德豪; 金鸿雁

doi:10.15938/j.emc.2024.12.006

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基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制

更新时间：2025-06-03

- 基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制
- Adaptive full order dynamic sliding mode control of permanent magnet linear synchronous motor based on load force observer
- 电机与控制学报 2024年28卷第12期页码：53-61
- 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，研究方向为电机控制、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)
- DOI：10.15938/j.emc.2024.12.006
  中图分类号： TM351;TP273
- 收稿：2023-08-28，
  
  纸质出版：2024-12
- 稿件说明：
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赵希梅, 李德豪, 金鸿雁. 基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制[J]. 电机与控制学报, 2024,28(12):53-61.

ZHAO Ximei, LI Dehao, JIN Hongyan. Adaptive full order dynamic sliding mode control of permanent magnet linear synchronous motor based on load force observer[J]. Electric Machines and Control, 2024, 28(12): 53-61.
赵希梅, 李德豪, 金鸿雁. 基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制[J]. 电机与控制学报, 2024,28(12):53-61. DOI： 10.15938/j.emc.2024.12.006.

ZHAO Ximei, LI Dehao, JIN Hongyan. Adaptive full order dynamic sliding mode control of permanent magnet linear synchronous motor based on load force observer[J]. Electric Machines and Control, 2024, 28(12): 53-61. DOI： 10.15938/j.emc.2024.12.006.

摘要

针对永磁同步直线电机（PMLSM）在运行时易受参数变化、负载扰动、摩擦阻力、定位力等不确定性影响，导致位置跟踪精度不高、鲁棒性不强的问题，提出一种基于负载力观测器的自适应全阶动态滑模控制（AFODSMC-LFO）方法。首先，根据系统全阶误差状态方程设计全阶滑模面，全阶滑模控制（FOSMC）能够实现快速收敛，并且在稳态时可实现系统多变量连续控制；其次，为有效削弱抖振，引入了动态滑模控制（DSMC），DSMC可视为FOSMC的补偿控制器，通过低通滤波环节有效滤除控制律中的高频开关信号和测量噪声；此外，针对系统内部不确定性上界和外部负载扰动，分别通过以动子实际位置为自变量的自适应律和负载力观测器进行精确估计，进一步提高了系统的鲁棒性；最后，通过实验证明该方法能够保证PMLSM位置跟踪过程中的高跟踪精度和强鲁棒性。

Abstract

Permanent magnet linear synchronous motor (PMLSM) is susceptible to uncertainties such as parameter variation

load disturbance

friction resistance and positioning force during operation

which lead to low position tracking accuracy and robustness. An adaptive full order dynamic sliding mode control based on load force observer (AFODSMC-LFO) method was proposed. Firstly

the full order sliding mode surface was designed according to the full order error state equation of the system. The full order sliding mode control (FOSMC) can achieve fast convergence

and the multivariable continuous control of the system can be realized in the steady state；secondly

in order to effectively weaken the chattering

the dynamic sliding mode control (DSMC) was introduced. DSMC could be regarded as the compensation controller of FOSMC

and the high frequency switching signal and measurement noise in the control law were effectively filtered through the low pass filtering link；in addition

the upper bound and its first derivative of the internal uncertainty and the external load disturbance were accurately estimated by the adaptive law and the load force observer respectively

which takes the actual position of the actuator as the independent variable to further improve the robustness of the system；finally

the experimental results show that the proposed method can achieve high tracking accuracy and strong robustness in the process of PMLSM position tracking.

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Keywords

references

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