电机与控制应用2025，Vol.52Issue(5)：453-465,13.DOI:10.12177/emca.2025.035
面向激光跟踪仪的自适应非奇异终端滑模跟踪控制方法
Adaptive Nonsingular Terminal Sliding Mode Tracking Control Method for Laser Trackers
摘要
Abstract
[Objective]This study aims to address the issues of insufficient trajectory tracking accuracy and significant high-frequency chattering in permanent magnet direct current torque motor(PMDCTM)servo systems of laser trackers,which are caused by parameter variations,external disturbances,and nonlinear friction in conventional proportional-integral-derivative(PID)control.An nonsingular terminal sliding mode control(NTSMC)method with adaptive switching gain is proposed for PMDCTM position loop.[Methods]Firstly,a state-space representation based on angular error was developed using the electromechanical model of the azimuth axis motor in the laser tracker.Next,a fractional-order saturated function was selected as the sliding mode surface,and an adaptive switching gain law was designed by integrating adaptive control theory.This design effectively mitigated system uncertainties while avoiding singularities.Finally,the finite-time convergence of the control system was verified using Lyapunov stability theory,and the relationship between the designed sliding mode surface parameters and system convergence speed was analyzed.[Results]Comparative simulations and experiments were conducted using Matlab/Simulink software and enhanced programmable multi-axis controller platform.The results showed that,in the step response characterizing system rapidity,the PMDCTM position loop based on adaptive NTSMC(ANTSMC)reduced the convergence time by 41.2％compared to NTSMC and by 66.3％compared to PID control.In the application scenario of commutation of the tracker's azimuth axis motor,the ANTSMC-based PMDCTM position loop demonstrated a 37.2％reduction in peak transient tracking error compared to NTSMC and 76.9％reduction compared to PID control.Furthermore,the steady-state chattering was significantly reduced,thereby enhancing the system's ability to resist external disturbances.[Conclusion]The proposed ANTSMC method effectively improves the control accuracy of PMDCTM position loop,enhances the dynamic response performance of laser tracker servo systems,mitigates chattering phenomena,and demonstrates excellent robustness.关键词
激光跟踪仪/自适应切换增益/收敛时间/抖振Key words
laser tracker/adaptive switching gain/convergence time/chattering分类
动力与电气工程引用本文复制引用
张弛,袁锦春,奚学程,何韬..面向激光跟踪仪的自适应非奇异终端滑模跟踪控制方法[J].电机与控制应用,2025,52(5):453-465,13.基金项目
四川省国防科技工业领域XX项目(J0024-2325-QT)Defense Science and Technology Industry Field XX Project of Sichuan Province(J0024-2325-QT) （J0024-2325-QT）
