Adaptive backstepping fractional order integral sliding mode control based on nonlinear disturbance observer for PMLSM
In order to improve the position tracking accuracy of permanent magnet linear synchronous motor(PMLSM)servo system and overcome the problems that it is easy to be affected by uncertain factors such as parameter change,load disturbance and friction,an adaptive backstepping fractional integral sliding mode control(ABFOSMC)method based on nonlinear disturbance observer(NDO)is proposed.Firstly,the dynamic mathematical model of PMLSM is established.Secondly,according to the nonlinear characteristics of PMLSM,the backstepping control is used to design the virtual control function to realize the accurate position tracking of the system,and the fractional integral sliding mode control is combined to enhance the robustness of the system.Finally,NDO is introduced to estimate system uncertainty and dynamically compensate the observation results to ABFOSMC,effectively reducing the impact of uncertainty factors on system servo performance and improving position tracking accuracy.Experimental results show that the proposed method is feasible and effectively improves the tracking performance.
permanent magnet linear synchronous motoruncertain factorsadaptive backstepping fractional integral sliding mode control:nonlinear disturbance observerrobustness
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