复合滑模控制在精密PMLSM激光切割运动平台的应用

张博; 韩雪峰; 齐蓉; 张弛

doi:10.3788/OPE.20172501.0084

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复合滑模控制在精密PMLSM激光切割运动平台的应用

微纳技术与精密机械 | 更新时间：2020-07-07

- 复合滑模控制在精密PMLSM激光切割运动平台的应用
- Application of composite sliding mode control on motion platform of PMLSM precision laser cutting
- 光学精密工程 2017年25卷第1期页码：84-92
- 作者机构：
  
  1.西北工业大学自动化学院, 陕西西安 710129
  2.中国科学院长春光学精密机械研究所, 吉林长春 130033
- 作者简介：
  
  [ "张博(1981-),男,陕西西安人,博士研究生,讲师,2003年、2006年于西安科技大学分别获得学士、硕士学位,主要从事伺服运动控制方面的研究。E-mail:paul8899@126.com" ]
  齐蓉(1962－)，女，陕西西安人，博士，教授，博士生导师。1990年、2005年于西北工业大学分别获得硕士、博士学位，主要从事控制系统故障诊断与容错设计，运动控制技术，智能检测技术，电力电子与电力传动，电力系统综合自动化，控制系统可靠性分析与设计，控制理论与应用。E-mail：lhqr@nwpu.edu.cn E-mail：lhqr@nwpu.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(No.51407143);高等学校博士学科点专项科研基金资助项目(No.20136102120049);陕西省自然科学基础研究计划资助项目(No.2014JQ7264);陕西省微特电机及驱动技术重点实验室开放基金资助项目(No.2013SSJ10022);中央高校基本科研业务费专项资金资助项目(No.3102014JCQ01066)
- DOI：10.3788/OPE.20172501.0084
  中图分类号： TP273
- 收稿日期：2016-08-20，
  
  录用日期：2016-9-27，
  
  纸质出版日期：2017-01-25
- 稿件说明：
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张博, 韩雪峰, 齐蓉, 等. 复合滑模控制在精密PMLSM激光切割运动平台的应用[J]. 光学精密工程, 2017,25(1):84-92.

Bo ZHANG, Xue-feng HAN, Rong QI, et al. Application of composite sliding mode control on motion platform of PMLSM precision laser cutting[J]. Editorial office of optics and precision engineeri, 2017, 25(1): 84-92.
张博, 韩雪峰, 齐蓉, 等. 复合滑模控制在精密PMLSM激光切割运动平台的应用[J]. 光学精密工程, 2017,25(1):84-92. DOI： 10.3788/OPE.20172501.0084.

Bo ZHANG, Xue-feng HAN, Rong QI, et al. Application of composite sliding mode control on motion platform of PMLSM precision laser cutting[J]. Editorial office of optics and precision engineeri, 2017, 25(1): 84-92. DOI： 10.3788/OPE.20172501.0084.

摘要

针对永磁直线同步电机激光切割运动平台的位置伺服控制低抖振、高精度、强鲁棒的要求，在传统双幂次滑模趋近律的基础上，提出一种变边界层的双幂次滑模趋近律带滑模扰动观测器的复合趋近律滑摸控制方法。变边界层方法是对控制系统的控制精度要求和降低抖振的权衡，而所提出的方法又继承了传统双幂次滑模趋近律方法的有限时间收敛特性。为了降低控制系统设计的保守性，设计了一种基于超螺旋算法的滑模扰动观测器对系统的未知扰动进行估计，并在此算法中添加一个幂指数，通过仿真实验证明了提高幂指数的数值可加快未知扰动的估计值的收敛速度。结合Lyapunov稳定性理论，证明了闭环系统的稳定性。最后，搭建了用于激光切割的永磁直线同步电机平移试验台对所提出的控制器进行测试。实验结果表明：本文所提出的控制器的位置跟踪误差不超过1

m，且误差波动较小，能够满足伺服控制系统的要求。

Abstract

A composite sliding mode control method

which was based on the traditional double power sliding mode reaching law method

was adopted for the requirements of low chattering

high-performance and strong robustness on the motion platform of permanent magnet linear synchronous motor precision laser cutting. A variable boundary layer of double power reaching law with sliding mode disturbance observer has been proposed in this paper. The method of variable boundary layer is a trade-off between control precision and chattering reduction

and it inherits the finite time convergence properties of the double power sliding mode reaching law. In order to reduce the conservatism of the system design

a sliding mode disturbance observer based on super-twisting algorithm was used to estimate the unknown disturbance on the system. A power exponent was added in this algorithm and the simulation experiments verified that increasing the value of the power exponent can accelerate the convergence rate of the unknown disturbance estimations. The stability of the closed-loop system was proved by the Lyapunov stability theory. Finally

a laser cutting translation test stage based on PMLSM was built. The experimental results showed that the proposed control method could satisfy the requirements of the system.

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永磁直线同步电机的多步虚拟位置预测控制