基于负载力观测器的永磁直线同步电机自适应全阶动态滑模控制  

Adaptive full order dynamic sliding mode control of permanent magnet linear synchronous motor based on load force observer

作　　者：赵希梅[1] 李德豪 金鸿雁 ZHAO Ximei;LI Dehao;JIN Hongyan(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,辽宁沈阳110870

出　　处：《电机与控制学报》2024年第12期53-61,72,共10页Electric Machines and Control

基　　金：辽宁省博士科研启动基金(2022-BS-177)。

摘　　要：针对永磁同步直线电机(PMLSM)在运行时易受参数变化、负载扰动、摩擦阻力、定位力等不确定性影响,导致位置跟踪精度不高、鲁棒性不强的问题,提出一种基于负载力观测器的自适应全阶动态滑模控制(AFODSMC-LFO)方法。首先,根据系统全阶误差状态方程设计全阶滑模面,全阶滑模控制(FOSMC)能够实现快速收敛,并且在稳态时可实现系统多变量连续控制;其次,为有效削弱抖振,引入了动态滑模控制(DSMC),DSMC可视为FOSMC的补偿控制器,通过低通滤波环节有效滤除控制律中的高频开关信号和测量噪声;此外,针对系统内部不确定性上界和外部负载扰动,分别通过以动子实际位置为自变量的自适应律和负载力观测器进行精确估计,进一步提高了系统的鲁棒性;最后,通过实验证明该方法能够保证PMLSM位置跟踪过程中的高跟踪精度和强鲁棒性。Permanent magnet linear synchronous motor(PMLSM)is susceptible to uncertainties such as parameter variation,load disturbance,friction resistance and positioning force during operation,which lead to low position tracking accuracy and robustness.An adaptive full order dynamic sliding mode control based on load force observer(AFODSMC-LFO)method was proposed.Firstly,the full order sliding mode surface was designed according to the full order error state equation of the system.The full order sliding mode control(FOSMC)can achieve fast convergence,and the multivariable continuous control of the system can be realized in the steady state;secondly,in order to effectively weaken the chattering,the dynamic sliding mode control(DSMC)was introduced.DSMC could be regarded as the compensation controller of FOSMC,and the high frequency switching signal and measurement noise in the control law were effectively filtered through the low pass filtering link;in addition,the upper bound and its first derivative of the internal uncertainty and the external load disturbance were accurately estimated by the adaptive law and the load force observer respectively,which takes the actual position of the actuator as the independent variable to further improve the robustness of the system;finally,the experimental results show that the proposed method can achieve high tracking accuracy and strong robustness in the process of PMLSM position tracking.

关 键 词：永磁同步直线电机 全阶滑模控制 动态滑模控制 自适应控制 抖振 负载力观测器 

分 类 号：TM351[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]