可控励磁直线同步电动机的全局积分Terminal滑模控制

Global integral terminal sliding mode control for controllable excitation linear synchronous motor

中文关键词  可控励磁  直线电动机  滑模控制  径向基函数神经网络

英文关键词  controllable excitation  linear motor  sliding mode control  radial basis function networks

中文摘要

      为提高可控励磁直线磁悬浮同步电动机进给系统的快速性与鲁棒性, 提出全局积分Terminal滑模控制策略. 构造新型的全局积分Terminal滑模面, 对系统状态任意初值可在有限时间内收敛到零点,在趋近律中引入衰减因子, 可减小系统抖振; 在构造滑模面和趋近律的基础上设计全局积分Terminal滑模速度控制器; 为进一步削弱滑模控制的抖振, 减小切换增益, 用径向基函数神经网络设计扰动观测器, 并对扰动进行前馈补偿控制. 仿真结果表明全局积分Terminal滑模控制策略能够明显改善系统的动态性能, 缩短误差的收敛时间, 提高系统抑制扰动的能力, 削弱系统的抖振, 增强系统的鲁棒性.

英文摘要

      In order to improve the fastness and robustness of the feeding system of controllable Excitation Linear magnetic levitation synchronous motor, a global integral terminal sliding mode control strategy is proposed. By constructing a new type of global integral terminal sliding surface, any initial value of the state of the system can converge to zero within a finite time. By introducing the attenuation factor into the reaching law, the system chattering can be reduced. On the basis of constructing the sliding surface and the reaching law, a speed global integral terminal sliding mode controller is designed. In order to further weaken the chattering of sliding mode control and reduce the switching gain, the disturbance observer is designed by radial basis function neural network and the feedforward compensation control of the disturbance is carried out. The simulation results show that the global integral terminal sliding mode control strategy can significantly improve the dynamic performance of the system, shorten the error convergence time, and improve the ability of the system to suppress the disturbance, weaken the system chattering and enhance the system robustness.