基于自适应干扰观测器的永磁球形电机连续非奇异终端滑模控制  

Adaptive disturbance observer-based continuous nonsingular terminal sliding-mode control for permanent-magnet spherical actuator

作　　者：王群京[1,2] 刘中阳 李国丽[1,3] 文彦[4,5] WANG Qun-jing;LIU Zhong-yang;LI Guo-li;WEN Yan(School of Electrical Engineering and Automation,Anhui University,Hefei 230601,China;National Engineering Laboratory of Energy-saving Motos&Control Technology,Anhui University,Hefei 230601,China;Anhui Key Laboratory of Powes Quality,Ministry of Education,Anhui University,Hefei 230601,China;Anhui Collaborative innovetion Center of Industrial Energa-Saving and Powes Quality Control,Anhui University,Hefei 230601,China;School of Internet,Anhui,University,Hefei 230601,China)

机构地区：[1]安徽大学电气工程与自动化学院,安徽合肥230601 [2]安徽大学高节能电机及其控制技术国家地方联合实验室,安徽合肥230601 [3]安徽大学工业节电与用电安全安徽省重点实验室,安徽合肥230601 [4]安徽大学工业节电与电能质量控制安徽省级协同创新中心,安徽合肥230601 [5]安徽大学互联网学院,安徽合肥230601

出　　处：《电机与控制学报》2022年第8期66-78,共13页Electric Machines and Control

基　　金：国家自然科学基金重点项目(51637001)。

摘　　要：针对新型永磁球形电机的轨迹跟踪问题,提出一种基于自适应干扰观测器的连续非奇异终端滑模控制策略。首先,通过拉格朗日第二方程构建了永磁球形电机在复合干扰下的动力学模型,根据线性叠加原理建立了永磁球形电机完整的转矩模型。然后,为降低复合干扰对永磁球形电机跟踪控制的影响,提出改进的自适应干扰观测器,估计永磁球形电机的外部扰动、摩擦力矩、动力学模型误差和转矩模型误差等在内的未知复合干扰。此外,基于永磁球形电机的名义动力学模型,提出连续非奇异终端滑模控制算法。最后,通过Lyapunov方法证明了该闭环控制系统的稳定性,分析了跟踪误差的收敛性。通过仿真对比和实验结果验证了所提出控制策略的有效性和精确性。In this paper, aiming at the trajectory tracking problem of a new type permanent-magnet spherical actuator(PMSA), a continuous nonsingular terminal sliding-mode control strategy based on adaptive disturbance observer is proposed. Firstly, the dynamic model of PMSA with the lumped disturbances was constructed by Lagrange’s Equation of the Second Kind. After that, according to the principle of linear superposition, the torque model of PMSA was established. Then, in order to reduce the influence of lumped disturbances on the tracking control of PMSA, an adaptive disturbance observer was designed to estimate the unknown lumped disturbances including external disturbances, friction torque, dynamic modeling errors and torque modeling errors. In addition, a continuous nonsingular terminal sliding-mode control algorithm based on the nominal dynamic model of PMSA was proposed. Finally, the stability of the proposed control algorithm was guaranteed by the Lyapunov theory and the convergence of the tracking error was analyzed. Simulation comparison and experimental results verify the effectiveness and accuracy of the proposed control strategy.

关 键 词：永磁球形电机 动力学模型 转矩模型 自适应干扰观测器 连续非奇异终端滑模 轨迹跟踪 

分 类 号：TM351[电气工程—电机]