基于滑模干扰观测器的直线伺服系统滑模速度控制仿真研究  

Simulation research on the sliding mode speed control of linear servo system based on sliding mode disturbance observer

作　　者：余卓 周磊[1,3] 汪木兰[1,2] 卜又亮 Yu Zhuo;Zhou Lei;Wang Mulan;Bu Youliang(Jiangsu Key Laboratory of Advanced Numerical Control Technology,Nanjing Institute of Technology,Jiangsu Nanjing,211167,China;Industrial Center,Nanjing Institute of Technology,Jiangsu Nanjing,211167,China;School of Automation,Nanjing Institute of Technology,Jiangsu Nanjing,211167,China)

机构地区：[1]南京工程学院江苏省先进数控技术重点实验室,江苏南京211167 [2]南京工程学院工业中心,江苏南京211167 [3]南京工程学院自动化学院,江苏南京211167

出　　处：《机械设计与制造工程》2024年第6期34-38,共5页Machine Design and Manufacturing Engineering

基　　金：江苏省高等学校自然科学研究重大项目(20KJA460010)。

摘　　要：为了减小永磁同步直线电机伺服系统的速度跟踪误差,提出了一种基于滑模干扰观测器的滑模控制方法。首先,建立直线电机的数学模型。其次,针对直线电机具有参数时变、内部状态耦合的非线性特性,设计了滑模控制器。然后,考虑到直线电机伺服系统存在的多种扰动,设计了滑模干扰观测器用于估计扰动,并将观测器的扰动估计值作为速度控制器的前馈补偿,以消除扰动对系统的影响。最后的仿真结果表明,所提出的控制方法能提高直线电机速度控制系统的静态性能和抗干扰性。In order to reduce the speed tracking error of permanent magnet synchronous linear motor servo system,a sliding mode control method based on sliding mode disturbance observer is proposed.Firstly,the mathematical model of linear motor is established.Secondly,a sliding mode controller is designed for the nonlinear characteristics of linear motor with time-varying parameters and internal state coupling.Then,a sliding mode disturbance observer is designed to estimate the disturbance due to the existence of multiple disturbances in the linear motor servo system,and the estimated value of the disturbance is used as feedback compensation of the speed controller to eliminate the influence of disturbances on the system.Finally,the simulation results show that the proposed control method can improve the static performance and anti-interference of the linear motor speed control system.

关 键 词：直线电机 滑模控制 滑模干扰观测器 速度控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]