引用本文:金鸿雁,赵希梅.基于互补滑模控制和迭代学习控制的永磁直线同步电动机速度控制[J].控制理论与应用,2020,37(4):918~924.[点击复制]
JIN Hong-yan,ZHAO Xi-mei.Speed control of permanent magnet linear synchronous motor based on complementary sliding mode control and iterative learning control[J].Control Theory and Technology,2020,37(4):918~924.[点击复制]
基于互补滑模控制和迭代学习控制的永磁直线同步电动机速度控制
Speed control of permanent magnet linear synchronous motor based on complementary sliding mode control and iterative learning control
摘要点击 2367  全文点击 940  投稿时间：2019-01-03  修订日期：2019-06-24
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DOI编号  10.7641/CTA.2019.90006
  2020,37(4):918-924
中文关键词  永磁直线同步电动机  不确定性  互补滑模控制  迭代学习控制  鲁棒性
英文关键词  permanent magnet linear synchronous motor  uncertainties  complementary sliding mode control  iterative learning control  robustness
基金项目  国家自然科学基金项目（51175349）；辽宁省自然科学基金计划重点项目（20170540677)；辽宁省教育厅科学技术研究项目（LQGD2017025）
作者单位E-mail
金鸿雁 沈阳工业大学电气工程学院 zhaoxm_sut@163.com 
赵希梅* 沈阳工业大学电气工程学院 zhaoxm_sut@163.com 
中文摘要
      为满足永磁直线同步电动机（PMLSM）伺服系统高速度高精度的要求，抑制不确定性对系统性能的影响，提出一种互补滑模控制（CSMC）和迭代学习控制（ILC）相结合的控制方法。该方法结合了CSMC强鲁棒性的优点和ILC跟踪精度高的特点，以CSMC中积分滑模面为基础设计新型学习律，既可利用ILC对系统未建模动态进行估计，抑制端部效应、齿槽效应和摩擦力等周期不确定性的影响，又可利用CSMC减小参数变化和外部扰动等非周期不确定性对系统的影响，从而提高控制器的收敛速度和收敛精度，保证系统具有较强的速度跟踪性能。实验结果表明，该方法有效地提高了系统的动态响应能力，改善了速度跟踪精度。
英文摘要
      A control method combined complementary sliding mode control (CSMC) and iterative learning control(ILC) was proposed to satisfy the performance of permanent magnet linear synchronous motor (PMLSM) servo system and to suppress the influence of uncertainties on the control system. This method combines the strong robustness of complementary sliding mode control (CSMC) with the high tracking accuracy of iterative learning control (ILC). Based on the integral sliding surface of CSMC, a new learning law was designed, which can be used to estimate the unmodeled dynamics of the system and suppress periodic uncertainties such as end effects, cogging effects and friction forces. CSMC can reduce the influence of aperiodic uncertainties such as parameter variations and external disturbances on the system, improve the convergence speed and accuracy of controller, and guarantee the strong speed tracking performance of the system. The experimental results show that both the dynamic response ability and the speed tracking accuracy of the system are improved effectively.