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

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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   

  1. School of Automation, Northwestern Polytechnical University, Xi'an 710129, China
  • Received:2015-04-27 Online:2016-11-20 Published:2016-11-20

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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

CLC Number: 

  • TP273
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