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OACSTPCD

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.