基于有限时间状态观测器的永磁同步直线电机递归终端滑模控制
Recursive Terminal Sliding Mode Control of Permanent Magnet Synchronous Linear Motor Based on Finite-time State Observer
王立俊 1赵吉文 1盘真保 1于子翔 1郑智磊1
作者信息
- 1. 合肥工业大学电气与自动化工程学院,安徽省 合肥市 230009
- 折叠
摘要
针对载荷变化、非线性摩擦、推力波动和外部扰动等不确定性降低永磁同步直线电机位置跟踪性能的问题,提出一种基于有限时间状态观测器的递归终端滑模控制方法.首先,建立考虑有界集总不确定性的直线电机动力学模型.其次,设计快速终端滑模函数和积分滑模函数的递归结构,强制系统直接从滑模面启动,减少了跟踪误差的收敛时间.然后,引入有限时间状态观测器实时估计集总不确定性并前馈补偿到控制率中,提高系统的鲁棒性和减少抖振.接着,利用李雅普诺夫理论分析闭环控制器的稳定性和有限时间收敛性.最后,搭建基于半实物AD5435的实验平台,实验结果验证了所提方法的可行性和优越性.
Abstract
A recursive terminal sliding mode control method based on finite-time state observer is proposed to solve the problem that the uncertainties such as payload variation,nonlinear friction,thrust ripple and external disturbance degrading the position tracking performance of permanent magnet synchronous linear motor.First,the dynamic model of linear motor with bounded lumped uncertainty is established.Secondly,the recursive structures of the fast terminal sliding mode function and the integral sliding mode function are designed to force the system to start directly from the sliding mode surface,which reduces the convergence time of tracking error.Then,a finite-time state observer is introduced to estimate the lumped uncertainties in real-time and feed forward to the control law to improve the robustness of the system and reduce chattering.The stability and finite-time convergence of the closed-loop controller are analyzed by using Lyapunov theory.Finally,an experimental platform based on the hardware in the loop AD5435 is built;the experimental results verify the correctness and feasibility of the proposed method.
关键词
永磁同步直线电机/位置跟踪/终端滑模/鲁棒性/有限时间状态观测器/李雅普诺夫Key words
permanent magnet synchronous linear motor(PMSLM)/position tracking/terminal sliding mode/robustness/finite-time state observer/Lyapunov引用本文复制引用
基金项目
国家自然科学基金(51837001)
国家自然科学基金(52177038)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据