有限转角力矩电机的有限时间反步滑模控制器设计  

Design of a Finite Time Backstepping Sliding Mode Controller for Limited Angle Torque Motors

作　　者：程鑫[1,2] 郑丰宇 梁祥丰 李小康 付聪 CHENG Xin;ZHENG Fengyu;LIANG Xiangfeng;LI Xiaokang;FU Cong(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Maglev Engineering Technology Research Center,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]湖北省磁悬浮轴承工程技术研究中心,湖北武汉430070

出　　处：《数字制造科学》2024年第4期245-250,共6页

摘　　要：针对有限转角力矩电机(LATM)的齿槽转矩和电枢效应等不确定性扰动,制约了基于LATM伺服系统性能实现的问题。以集中绕组式LATM为研究对象,在研究LATM不确定性扰动产生原因的基础上,设计了有限转角力矩电机的有限时间反步滑模控制器。通过理论分析与仿真验证,该控制器具有响应速度快,跟踪性能好,稳态误差小等优点,提高了有限转角力矩电机伺服系统的响应速度和控制精度。The Limited Angle Torque Motor(LATM)is an electromagnetic rotary actuator designed for a restricted angular motion range.However,uncertainties such as cogging torque and armature effect impose significant constraints on the performance of LATM-based servo systems.This study focuses on concentrated winding LATMs,analyzing the origins of these uncertainties,and proposes a finite-time backstepping sliding mode controller to mitigate their effects.Theoretical analysis and simulation results demonstrate that the proposed controller offers fast response speed,excellent tracking performance,and minimal steady-state error,significantly enhancing the response speed and control precision of the LATM servo system.

关 键 词：有限转角力矩电机 有限时间控制 反步设计法 滑模控制 

分 类 号：TM381[电气工程—电机]