基于反馈线性化解耦的直驱H型平台滑模轮廓控制  

Sliding mode contour control of direct drive H-type platform based on feedback linear decoupling

作　　者：魏惠芳 王丽梅[1] 张康 WEI Hui-fang;WANG Li-mei;ZHANG Kang(School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China)

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《沈阳工业大学学报》2022年第3期241-247,共7页Journal of Shenyang University of Technology

基　　金：国家自然科学基金项目(51875366).

摘　　要：针对直驱H型平台轮廓控制中轮廓误差受机械耦合影响的问题,提出一种基于反馈线性化解耦的直驱H型平台滑模轮廓控制方法.该方法采用输入输出反馈线性化理论对多变量、强耦合的直驱H型平台设计解耦控制律,将耦合模型解耦为独立的单输入、单输出的系统.为克服不确定项的影响,保证系统的鲁棒性,实现参考轮廓的精密跟踪,将滑模控制应用于解耦后的系统中.利用李雅普诺夫理论证明控制器的渐近稳定性.结果表明,所提控制方法能有效提高H型平台轮廓跟踪精度和系统鲁棒性.In order to solve the problem of contour error affected by mechanical coupling in the contour control of direct drive H-type platform,a sliding mode contour control method for the direct drive H-type platform based on feedback linear decoupling was proposed.An input-output feedback linearization theory was used to design the decoupling control law for the direct drive H-type platform with multiple variables and strong coupling.The coupling model was decoupled into an independent single-input and single-output system.In order to overcome the influence of uncertain iterms,ensure the robustness of system and realize the precise tracking of reference contour,sliding mode control was applied to the decoupled system.The asymptotic stability of the controller was proved by Lyapunov theory.The results show that the as-proposed control method can effectively improve the contour tracking accuracy and system robustness of H-type platform.

关 键 词：H型平台 直接驱动 永磁直线同步电动机 轮廓控制 机械耦合 反馈线性化 解耦控制 滑模控制 

分 类 号：TM351[电气工程—电机]