| 引用本文: | 赵鑫宇,王丽梅.分数阶变增益超螺旋终端滑模位置控制[J].控制理论与应用,2025,42(4):740~748.[点击复制] |
| zhaoxinyu,WANGLi-mei.Fractional order variable-gain super-twisting terminal sliding mode position control[J].Control Theory & Applications,2025,42(4):740~748.[点击复制] |
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| 分数阶变增益超螺旋终端滑模位置控制 |
| Fractional order variable-gain super-twisting terminal sliding mode position control |
| 摘要点击 0 全文点击 0 投稿时间：2023-06-30 修订日期：2025-04-10 |
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| DOI编号 10.7641/CTA.2024.30455 |
| 2025,42(4):740-748 |
| 中文关键词 永磁直线同步电机 分数阶超螺旋控制 位置控制 鲁棒性 |
| 英文关键词 permanent magnet linear synchronous motor fractional order super-twisting control position control ro bustness |
| 基金项目 国家自然科学基金项目(51875366)资助. |
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| 中文摘要 |
| 为了提高永磁直线同步电机伺服系统的位置跟踪精度,本文提出了一种分数阶变增益超螺旋终端滑模控制
方法. 首先,建立含有不确定性的系统动态方程.然后,将分数阶Riemann-Liouville定义和终端滑模理论相结合,实
现了有限时间收敛的分数阶恒增益超螺旋滑模控制,削弱了抖振现象.同时,在系统不确定因素复杂的情况下,基于
李雅普诺夫理论,设计了一种新型变增益超螺旋算法,精确补偿了系统不确定扰动,有效的改善了系统的鲁棒性能.
最后,仿真与实验结果表明,所提方法大幅度地提高了系统的跟踪精度,削弱了抖振现象,同时对外部干扰具有较强
的鲁棒性. |
| 英文摘要 |
| In order to improve the position tracking accuracy of permanent magnet linear synchronous motor (PMLSM)
servo system, a fractional order variable-gain super-twisting terminal sliding mode control method is proposed in this
paper. Firstly, the dynamic equation of system with uncertainty is established. Then, the fractional order constant-gain
super-twisting sliding mode control with finite-time convergence is realized by combining the fractional order Riemann
Liouville definition and terminal sliding mode theory. At the same time, in the case of complex system uncertainties,
a new variable-gain super-twisting algorithm is designed based on Lyapunov theory, which accurately compensates the
uncertain disturbance of the system and effectively improves the robust performance of the system. Finally, the simulation
and experimental results show that the proposed method greatly improves the tracking accuracy of the system, weakens the
chattering phenomenon, and has strong robustness to external interference. |
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