超声波电动机自适应滑模控制器设计  

Design of Adaptive Sliding Mode Controller for Ultrasonic Motor

作　　者：严刚峰[1,2] YANGang-feng(College of Electronic Information and Electrical Engineering,Chengdu University,Chengdu 610106,China;College of Electrical Engineering,Anhui Polytechnic University,Wuhu 214000,China)

机构地区：[1]成都大学电子信息与电气工程学院,四川成都610106 [2]安徽工程大学电气工程学院,安徽芜湖214000

出　　处：《控制工程》2023年第2期345-351,共7页Control Engineering of China

基　　金：安徽工程大学检测技术与节能装置安徽省重点实验室开放研究基金资助项目(JCKJ2021B04);成都大学2022年实验教改项目(cdsyjg2022031)。

摘　　要：超声波电动机作为控制系统的执行器,被广泛应用于精密制造的驱动设备中。首先,为选择的超声波电机控制系统建立了近似的时域数学模型,使用最小二乘方法辨识了该系统模型的参数;然后,设计了一种连续切换自适应滑模控制器,并应用于超声波电机系统的控制,给出了超声波电机控制系统的稳定性检测方法,以及所设计控制器的参数选择方法;最后,采用传统滑模控制方法和所设计的控制方法跟踪相同的位置信号,取得了较好的控制效果。结果表明,对于跟踪幅值为40mm的位置信号,在较小抖振的前提下,传统滑模控制方法的最大跟踪误差为0.896 5 mm,连续切换自适应滑模控制的最大跟踪误差为0.164 6 mm,且无抖振。As the actuator of the control system, the ultrasonic motor is used widely in precision manufacturing driving equipment. Firstly, an approximate time-domain mathematical model is established for the selected ultrasonic motor control system, and the parameters of the system models are identified using the least square method. Then, a continuous switching adaptive sliding mode controller is designed and applied to the control of the ultrasonic motor system. The stability detection method of the ultrasonic motor control system and the parameter selection methods of the designed controller are given. Finally, the traditional sliding mode control method and the designed control method are used to track the same position signal, and a better control effect is achieved. The results show that for a position signal with a tracking amplitude of 40 mm, the traditional sliding mode control method has a maximum tracking error of 0.896 5 mm under the premise of small chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.164 6 mm, without chattering.

关 键 词：超声波电机 滑模控制 滑动面 连续切换 自适应 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]