基于奇异摄动环形永磁力矩电机的二阶滑模控制  

Second order sliding mode control of ring permanent-magnet torque motor based on singular perturbation

作　　者：孙宜标[1] 孙晓雨[1] 夏加宽[1] 王成元[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023

出　　处：《沈阳工业大学学报》2008年第2期148-153,共6页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(50375102);辽宁省自然科学基金资助项目(20052045)

摘　　要：针对高精度五轴联动数控机床中主轴头复合A/C轴直接驱动环形永磁力矩电机伺服系统易受负载扰动和参数变化影响的特点,以及其机械和电气变量间的耦合影响速度跟踪的快速性和精度的问题,设计了基于奇异摄动理论的二阶滑模鲁棒速度控制器.利用奇异摄动理论将环形力矩电机伺服系统的高阶模型解耦成两个不同时标的子系统,以实现变量间的解耦和模型简化.采用二阶滑模控制的螺旋算法分别设计快变和慢变子系统的控制律,再合成得到复合控制,以增强伺服系统的鲁棒性.仿真结果表明,所提出的策略使伺服系统具有很强的速度跟踪性能,而且对负载干扰和参数变化等不确定性具有很强的鲁棒性.The compound A/C axe direct drive ring permanent magnet torque motor servo system in high precision five axes gang numerical control machine is easily affected by the load disturbance and parameter variation,and rapid tracking performance and precision are influenced by the coupling between machine and electric variables.Thus,the second order sliding mode controller based on singular perturbation theory was proposed.To decouple the variables and simplify the model,the singular perturbation method was employed to decouple the ring torque motor servo system into two subsystems with different time scales.The control laws of fast and slow subsystems were designed separately by twisting algorithm of second order sliding mode control and the compound control was attained by synthesizing in order to enhance the robustness of servo system.Simulation results show that the proposed scheme makes the servo system has high speed-tracking performance and very strong robustness against load disturbance,parameter variation and other uncertainties.

关 键 词：复合A/C轴 环形永磁力矩电机 奇异摄动 二阶滑模 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM383.42[自动化与计算机技术—控制科学与工程]