基于扩展滑模扰动观测器的永磁直线同步电机定结构滑模位置跟踪控制  

Fixed Structure Sliding Mode Position Tracking Control for Permanent Magnet Linear Synchronous Motor Based on Extended Sliding Mode Disturbance Observer

作　　者：武志涛[1] 李帅 程万胜[1] Wu Zhitao;Li Shuai;Cheng Wansheng(School of Electronic and Information Engineering University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,鞍山114051

出　　处：《电工技术学报》2022年第10期2503-2512,共10页Transactions of China Electrotechnical Society

基　　金：辽宁省教育厅科学研究项目(LJKZ0308);特种电机与高压电器教育部重点实验室开放课题(KFKT202104)资助。

摘　　要：由于永磁直线同步电机位置伺服系统易受参数扰动、外部干扰和端部效应的影响,该文提出一种定结构滑模控制器与扩展滑模扰动观测器相结合的复合式滑模位置控制方法。定结构滑模控制器通过加入限制条件,保证了系统状态都位于滑模面的同一侧,削弱了传统变结构滑模控制器由切换控制产生的抖振现象,提高了滑模滑动运动的品质。扩展滑模扰动观测器可以对定结构滑模控制器中无法精确测量的系统扰动项进行观测并补偿,从而消除了系统扰动项对定结构滑模控制器的影响。最后通过实验验证了该复合式滑模控制方法的有效性。实验结果表明,相比于传统的滑模控制,该复合式滑模控制方法可以实现更高的位置跟踪精度,不仅削弱了抖振现象,而且增强了位置跟踪系统的鲁棒性能。Since the permanent magnet linear synchronous motor position servo system is susceptible to parameter disturbance,external disturbance and end effect,this paper proposes a composite sliding mode position control method based on fixed structure sliding mode controller and extended sliding mode disturbance observer.By adding restriction conditions,the fixed structure sliding mode controller ensures that the system state is located on the same side of the sliding mode surface,which weakens the chattering caused by the switch control of the conventional variable structure sliding mode controller and improves the quality of the sliding mode sliding motion.The extended sliding mode disturbance observer can compensate the system disturbance items that cannot be accurately measured in the fixed structure sliding mode controller,thereby eliminating the influence of the system disturbance items.In the end,the experiment indicates that the composite sliding mode control method is effective.Compared with the conventional sliding mode control,the compound position of sliding mode control method with superior tracking accuracy can weaken the chattering phenomenon and strengthen the robustness of position tracking system.

关 键 词：永磁直线同步电机 扰动观测器 定结构滑模控制器 抖振 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]