中国电机工程学报2024，Vol.44Issue(2)：755-765,中插27,12.DOI:10.13334/j.0258-8013.pcsee.222508
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
摘要
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分类
信息技术与安全科学引用本文复制引用
王立俊,赵吉文,盘真保,于子翔,郑智磊..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[J].中国电机工程学报,2024,44(2):755-765,中插27,12.基金项目
国家自然科学基金项目(51837001,52177038). Project Supported by National Natural Science Foundation of China(51837001,52177038). （51837001,52177038）
