机电伺服系统高精度自适应反推滑模控制

doi:10.13229/j.cnki.jdxbgxb201606033

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 2003-2009.doi: 10.13229/j.cnki.jdxbgxb201606033

机电伺服系统高精度自适应反推滑模控制

李兵强, 陈晓雷, 林辉, 吕帅帅, 马冬麒

西北工业大学自动化学院,西安 710129

收稿日期:2015-04-27 出版日期:2016-11-20 发布日期:2016-11-20
作者简介:李兵强(1982-),男,副教授,博士.研究方向:机电伺服控制理论及现代电机控制技术.
基金资助:
国家自然科学基金项目(51407143); 高等学校博士学科点专项科研基金项目(20136102120049); 陕西省自然科学基础研究计划项目(2014JQ7264, 2015JM5227); 中央高校基本科研业务费专项资金项目(3102014JCQ01066); 陕西省微特电机及驱动技术重点实验室开放基金项目(2013SSJ1002)

High precision adaptive backstepping sliding mode control for electromechanical servo system

LI Bing-qiang, CHEN Xiao-lei, LIN Hui, LYU Shuai-shuai, MA Dong-qi

School of Automation, Northwestern Polytechnical University, Xi'an 710129, China

Received:2015-04-27 Online:2016-11-20 Published:2016-11-20

摘要/Abstract

摘要： 通过建立永磁同步电机驱动的机电伺服系统的数学模型,设计对数型障碍函数作为控制Lyapunov函数,实现了对机电伺服位置误差范围的界约束。针对电机参数时变的特性,设计了自适应律对匹配不确定性进行在线估计,采用非奇异快速终端滑模控制设计电流控制器,证明了控制过程中舵面跟踪误差始终保持在约束区间内且可收敛到原点较小邻域。仿真及试验结果表明:与常规反推控制方法相比,本文方法的鲁棒性和控制精度得到了显著提高。

关键词: 自动控制技术, 机电作动器, 永磁同步电机, 自适应控制, 滑模控制

Abstract: A mathematical model of Permanent Magnet Synchronous Motor (PMSM) based servo system was established. A log-type barrier function was designed as control Lyapunov function to constrain the angular displacement tracking error in a certain scope. An adaptive update law was designed to estimate the matched uncertainties, and high accuracy control was implemented. Based on the vector control principle, fast terminal sliding modes were designed to ensure that the q-axis and d-axis currents reach the given values in a finite time. Applying the Lyapunov method, it was proved that the variables of the closed loop system are uniformly bounded and the tracking error can converge to a small neighborhood of the origin. The simulation and experiment results demonstrate that, compared with the traditional backstepping control, the robustness and accuracy of the proposed control method are obviously improved.

Key words: automatic control technology, electromechanical actuator, permanent magnet synchronous motor, adaptive control, sliding mode control

中图分类号:

TP273

李兵强, 陈晓雷, 林辉, 吕帅帅, 马冬麒. 机电伺服系统高精度自适应反推滑模控制[J]. 吉林大学学报(工学版), 2016, 46(6): 2003-2009.

LI Bing-qiang, CHEN Xiao-lei, LIN Hui, LYU Shuai-shuai, MA Dong-qi. High precision adaptive backstepping sliding mode control for electromechanical servo system[J]. 吉林大学学报(工学版), 2016, 46(6): 2003-2009.

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机电伺服系统高精度自适应反推滑模控制

High precision adaptive backstepping sliding mode control for electromechanical servo system

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