控制理论与应用2018，Vol.35Issue(2)：137-145,9.DOI:10.7641/CTA.2017.70336
永磁球形电机的少保守性滑模控制
Less conservative sliding mode control of permanent magnet spherical motor
摘要
Abstract
The high gains output is often adopted in the existing permanent magnet spherical motor(PMSM)trajectory tracking control method to ensure the robustness of the system and the fastness of tracking control. However,this con-servative control will bring greater control,and even lead to actuator saturation. In order to reduce the conservativeness of control,this paper designs a fuzzy sliding mode controller with nonlinear disturbance observer to solve the trajectory tracking problem of PMSM.The nonlinear observer is used to estimate the uncertainty,friction,external disturbance and load disturbance,and compensate it at the control input so as to achieve the suppression of interference.The sliding mode controller is used to cancel the interference observation error of the disturbance observer and unobservable part distur-bance. In order to reduce the undesirable chattering phenomenon,the fuzzy logic is used to approximate this part. And the sliding mode switching gain is replaced by the fuzzy output gain. In addition,the stability of the controller is proved by the Lyapunov equation.The simulation results show that the proposed algorithm can realize PMSM trajectory tracking control in the presence of model uncertainty and various disturbances,and has good dynamic and static performance and less conservativeness.关键词
非线性干扰观测器/永磁球形电机/模糊滑模控制/轨迹跟踪Key words
nonlinear disturbance observer/permanent magnet spherical motor/fuzzy sliding control/trajectory tracking分类
信息技术与安全科学引用本文复制引用
李洪凤,柳文俊..永磁球形电机的少保守性滑模控制[J].控制理论与应用,2018,35(2):137-145,9.基金项目
国家自然科学基金项目(51677130)资助.Supported by the National Natural Science Foundation of China(51677130). （51677130）
