Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (6): 2295-2303.doi: 10.13229/j.cnki.jdxbgxb20200680

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Adaptive fuzzy fractional⁃order sliding mode precise motion control of permanent magnet linear synchronous motor

Dong-hui WEI1(),Ai-ting WANG1,Jing-hong JI2,Jun-long FANG1()   

  1. 1.College of Electrical and Information，Northeast Agricultural University，Harbin 150030，China
    2.Harbin Huade College，Harbin 150025，China
  • Received:2020-09-04 Online:2021-11-01 Published:2021-11-15
  • Contact: Jun-long FANG E-mail:weidonghui@neau.edu.cn;junlongfang@126.com

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Abstract:

In order to solve the problem that the uncertainty in the servo system of Permanent Magnet Linear Synchronous Motor (PMLSM) affects the servo accuracy, an Adaptive Fuzzy Fractional Order Sliding Mode Control (AFFOSMC) method was proposed to ensure that the actuator position of the PMLSM follows the given position precisely. Firstly, the mathematical model of PMLSM with the uncertainty of parameter change and external disturbance was established. Then, Fractional Order Sliding Mode Control (FOSMC) was designed to ensure the robustness of the system. Because it was difficult to determine the switching control gain of FOSMC in application, AFFOSMC was used to estimate the uncertainty of the system. At the same time, an Adaptive Fuzzy Reaching Regulator (AFRR) was designed to compensate the estimation error of AFFOSMC. Therefore, the chattering can be further weakened and the performance can be improved without the uncertain boundary information. Finally, experiments show that the proposed AFFOSMC method can effectively reduce the impact of parameter changes and external disturbances on the system, improve the robust control performance and accurate tracking response of the system.

Key words: permanent magnet linear synchronous motor, fractional-order, fuzzy control, sliding mode control

CLC Number: 

  • TM351

Fig.1

Overall block diagram of PMLSM controlsystem based on AFFOSMC"

Fig.2

Block diagram of FOSMC"

Fig.3

Gaussian membership function"

Fig.4

Block diagram of PMLSM control systembased on AFFOSMC"

Fig.5

Platform of PMLSM control system"

Table 1

Main parameters of PMLSM"

参 数数值
定子电阻/Ω3
d、q轴电感/mH31
极对数2
黏性摩擦因数/（N·s·m-1）0.4
动子质量/kg1.2

Fig.6

Experimental curves of FOSMC undernominal condition"

Fig.7

Experimental curves of AFFOSMC undernominal condition"

Fig.8

Curve of load variation"

Fig.9

Position tracking error curves underload variation"

Fig.10

Experimental curves of FOSMCunder sinusoidal signal"

Fig.11

Experimental curves of FOSMC-RBFNNunder sinusoidal signal"

Fig.12

Experimental curves of AFFOSMCunder sinusoidal signal"

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