基于Sugeno型模糊神经网络和互补滑模控制器的双直线电机伺服系统同步控制
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摘要
针对高精密直驱龙门定位平台的双直线电机伺服系统的位置同步控制问题,提出一种Sugeno型模糊神经网络(SFNN)同步补偿器和互补滑模控制器(CSMC)相结合的控制方法。建立了含有参数变化、外部扰动和摩擦力等不确定性的永磁直线同步电机(PMLSM)动态模型,采用广义滑模面和互补滑模面相结合的方式来设计CSMC。CSMC可有效抑制参数变化、外部扰动和摩擦力等不确定性的影响,削弱传统滑模控制器(SMC)存在的抖振现象,减小系统的跟踪误差,实现高精度位置跟踪。同时,利用SFNN同步补偿器解决双直线电机间动态参数不匹配问题及耦合现象,SFNN同步补偿器可对每个轴进行误差补偿,从而减小位置同步误差,保证系统实现同步控制。实验结果表明,该控制方法可明显减小系统的跟踪误差和同步误差,进而改善轮廓加工精度。
A control method combined with Sugeno type fuzzy neural network(SFNN)synchronous compensator and complementary sliding mode controller(CSMC) is proposed for position synchronization control problems of dual linear motors servo system in a high precision direct drive gantry position stage.The permanent magnet linear synchronous motor(PMLSM) dynamic model with uncertainties such as parameter variations,external disturbances and friction forces was established,and CSMC is designed by the combination of generalized sliding surface and complementary sliding surface.CSMC can efficiently suppress the influence of uncertainties and weaken the chattering phenomenon in the traditional sliding mode controller(SMC),reduce the tracking errors of the system and achieve high precision position tracking.Meanwhile,SFNN synchronous controller is used to solve the dynamic parameter unmatched problems between two linear motors and the coupling phenomenon.SFNN can make error compensation for each axis,so that it can reduce the position synchronization error and guarantee synchronization control of the system.The experimental results show that the control method can significantly reduce the tracking error and synchronization error of the system,and further improve the accuracy of contour processing.
A control method combined with Sugeno type fuzzy neural network(SFNN)synchronous compensator and complementary sliding mode controller(CSMC) is proposed for position synchronization control problems of dual linear motors servo system in a high precision direct drive gantry position stage.The permanent magnet linear synchronous motor(PMLSM) dynamic model with uncertainties such as parameter variations,external disturbances and friction forces was established,and CSMC is designed by the combination of generalized sliding surface and complementary sliding surface.CSMC can efficiently suppress the influence of uncertainties and weaken the chattering phenomenon in the traditional sliding mode controller(SMC),reduce the tracking errors of the system and achieve high precision position tracking.Meanwhile,SFNN synchronous controller is used to solve the dynamic parameter unmatched problems between two linear motors and the coupling phenomenon.SFNN can make error compensation for each axis,so that it can reduce the position synchronization error and guarantee synchronization control of the system.The experimental results show that the control method can significantly reduce the tracking error and synchronization error of the system,and further improve the accuracy of contour processing.
引文
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[2]刘春芳,刘志.基于分数阶PID和重复控制的快速刀具伺服系统[J].沈阳工业大学学报,2017,39(5):486-490.Liu Chunfang,Liu Zhi.Fast tool servo system based on fractional order PID and repetitive control[J].Journal of Shenyang University of Technology,2017,39(5):486-490.
[3]赵希梅,武文斌.基于周期学习扰动观测器的永磁直线同步电机伺服系统控制[J].电工技术学报,2018,33(9):1985-1993.Zhao Ximei,Wu Wenbin.Control of permanent magnet linear synchronous motor servo system based on periodic learning disturbance observer[J].Transactions of China Electrotechnical Society,2018,33(9):1985-1993.
[4]夏长亮,李莉,谷鑫,等.双永磁电机系统转速同步控制[J].电工技术学报,2017,32(23):1-8.Xia Changliang,Li Li,Gu Xin,et al.Speed synchronization control of dual-PMSM system[J].Transactions of China Electrotechnical Society,2017,32(23):1-8.
[5]Lin F J,Chou P H,Chen C S,et al.DSP-based crosscoupled synchronous control for dual linear motors via intelligent complementary sliding mode control[J].IEEE Transactions on Industrial Electronics,2011,59(2):1061-1073.
[6]严乐阳,叶佩青,张辉,等.基于多周期迭代滑模控制的直线电机干扰抑制[J].电机与控制学报,2017,21(1):8-13.Yan Yueyang,Ye Peiqing,Zhang Hui,et al.Disturbance rejection for linear motor based on multiperiodic learning variable structure control[J].Electric Machines and Control,2017,21(1):8-13.
[7]赵希梅,金鸿雁.基于Elman神经网络的永磁直线同步电机互补滑模控制[J].电工技术学报,2018,33(5):973-979.Zhao Ximei,Jin Hongyan.Complementary sliding mode control for permanent magnet linear synchronous motor based on Elman neural network[J].Transactions of China Electrotechnical Society,2018,33(5):973-979.
[8]Lin C M,Chin W L.Adaptive decoupled fuzzy sliding-mode control of a nonlinear aeroelastic system[J].Journal of Guidance Control&Dynamics,2015,29(1):206-209.
[9]Chen Qiang,Tao Liang,Nan Yurong.Full-order sliding mode control for high-order nonlinear system based on extended state observer[J].Journal of Systems Science&Complexity,2016,29(4):978-990.
[10]侯利民,王巍.表面式永磁同步电机无源非奇异快速终端滑模控制[J].电工技术学报,2014,29(11):45-52.Hou Limin,Wang Wei.Passivity-based control and nonsingular fast terminal sliding mode control for SPMSM[J].Transactions of China Electrotechnical Society,2014,29(11):45-52.
[11]Ulu N G,Ulu E,Cakmakci M.Design and analysis of a modular learning based cross-coupled control algorithm for multi-axis precision positioning systems[J].International Journal of Control Automation&Systems,2016,14(1):272-281.
[12]Jeong S K,You S S.Precise position synchronous control of multi-axis servo system[J].Mechatronics,2008,18(3):129-140.
[13]Liu Feng,Wang Hua,Shi Qingli,et al.Comparison of an ANFIS and fuzzy PID control model for performance in a two-axis inertial stabilized platform[J].IEEE Access,2017,5(99):12951-12962.
[14]Yan M T,Lee M H,Yen P L.Theory and application of a combined self-tuning adaptive control and crosscoupling control in a retrofit milling machine[J].Mechatronics,2005,15(2):193-211.
[15]Chen Wei,Wang Diandian,Geng Qiang,et al.Robust adaptive cross-coupling position control of biaxial motion system[J].Science China:Technological Sciences,201659(4):680-688.