基于三阶超螺旋扰动观测器的PMLSM全局自适应滑模控制  

Global adaptive sliding mode control for PMLSM based onthird-order super-twisting disturbance observer

作　　者：张艳 王丽梅[1] 方馨 ZHANG Yan;WANG Limei;FANG Xin(School of Electric and 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,辽宁沈阳110870

出　　处：《电机与控制学报》2024年第6期76-86,共11页Electric Machines and Control

基　　金：国家自然科学基金(51875366)。

摘　　要：针对永磁直线同步电机的位置跟踪精确度易受外部扰动、参数变化等不确定性因素影响的问题,提出全局自适应滑模控制器与三阶超螺旋扰动观测器相结合的复合控制策略。首先,为了解决全局滑模控制存在的抖振问题,根据自适应趋近律设计全局自适应滑模控制器。自适应趋近律可以根据系统状态变量的变化过程实时调整开关增益的大小,从而提高系统的响应速度并减小抖振。然后,为了提高系统的跟踪精确度以及抗干扰能力,设计三阶超螺旋扰动观测器,利用扰动观测器观测系统中无法精确测量的扰动以及存在的不确定项,实现对系统的前馈补偿。最后,进行仿真与实验验证。仿真与实验结果表明,与全局滑模控制相比,所提方法能有效提高系统的响应速度和跟踪精确度,使系统具有良好的稳态性能和动态性能。Aiming at the problem that the position tracking accuracy of permanent magnet linear synchronous motor is easily affected by uncertain factors such as external disturbance and parameter change,a compound control strategy combining global adaptive sliding mode controller and three-order super-twisting disturbance observer was proposed.Firstly,in order to solve the chattering problem of global sliding mode control,the global adaptive sliding mode controller was designed according to the adaptive reaching law.The adaptive approach law can adjust the switching gain in real time according to the changing process of the system state variables,so as to improve the response speed of the system and reduce chattering.Then,in order to improve the tracking accuracy and anti-interference ability of the system,a three-order super-twisting disturbance observer was designed to observe the disturbance and uncertainty that cannot be accurately measured in the system and realize the feedforward compensation of the system.Finally,simulation and experimental verification were carried out.The simulation and experimental results show that compared with global sliding mode control,the proposed method can effectively improve the response speed and tracking accuracy of the system,and make the system have good steady-state and dynamic performance.

关 键 词：永磁直线同步电机 全局滑模控制 自适应趋近律 扰动观测器 跟踪精确度 抗扰性 抖振 

分 类 号：TM359.4[电气工程—电机]