永磁直线同步电机自适应反推非奇异终端滑模控制  

Adaptive Backstepping Nonsingular Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor

作　　者：张悦 赵希梅[1] ZHANG Yue;ZHAO Ximei(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：《微特电机》2023年第11期59-64,70,共7页Small & Special Electrical Machines

摘　　要：针对永磁直线同步电机(PMLSM)伺服系统在负载扰动、内部参数变化等各种不确定影响因素下,导致系统位置跟踪精度降低的问题,提出一种基于非线性扰动观测器(NDO)的自适应反推非奇异终端滑模控制(ABNTSMC)方法。反推控制与非奇异终端滑模控制相结合,利用反推将复杂的非线性系统进行降阶处理,通过非奇异终端滑模控制使各个子系统状态能够在有限时间内实现快速收敛,并通过自适应算法对控制器切换项的扰动上界进行动态调整,削弱滑模抖振。结合NDO实时辨识系统不确定性扰动的特性,将观测值前馈补偿到滑模位置控制器中,以减小系统跟踪误差,提高系统抗干扰能力。该控制方法与滑模控制(SMC)、ABNTSMC进行仿真对比,从而验证该控制方法的有效性。Aiming at the problem of reducing the position tracking accuracy of permanent magnet linear synchronous motor(PMLSM)servo systems due to various uncertain factors such as internal parameter changes and load disturbances,an adaptive backstepping nonsingular terminal sliding mode control(ABNTSMC)method based on nonlinear disturbance observer(NDO)was proposed.A combination of backstepping control and nonsingular terminal sliding mode control was used to reduce the order of a complex nonlinear system.Nonsingular terminal sliding mode control was used to achieve rapid convergence of the states of each subsystem in a finite time.Adaptive algorithms were used to dynamically adjust the upper bound of the controller switching terms to weaken sliding mode chattering.Combined with the characteristics of NDO real-time identification of uncertain disturbances in the system,observations were feedforward compensated to a sliding mode position controller to reduce system tracking error and improve system anti-interference ability.A simulation comparison between the control method and sliding mode control(SMC)and ABNTSMC verifies the effectiveness of the control method.

关 键 词：永磁直线同步电机 反推滑模 非奇异终端滑模控制 自适应控制 非线性扰动观测器 

分 类 号：TM351[电气工程—电机] TM359.4