基于滑模控制的H型运动平台改进型主从控制
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摘要
由于H型运动平台两直线电机之间存在机械耦合及负载扰动不同等不确定因素,导致了双直线电机运动不同步的问题。因此,提出了一种基于积分反演自适应滑模(integral backstepping adaptive sliding mode control, IBASMC)与改进型主从控制相结合的控制方案。在单轴上,采用积分反演自适应滑模控制作为位置控制器,有效地减小了位置跟踪误差;在双轴上,采用了改进型主从控制,将其与普通的主从控制进行比较,显著地减小了双轴之间的同步误差。仿真结果证明,所设计的控制方法有效地提高了H型运动平台的跟踪精度、抗干扰能力和同步精度。
Due to uncertain factors such as mechanical coupling and different load disturbance between two linear motors of H-type motion platform which lead to the problem of unsynchronous motion of two linear motors.Therefore, a control scheme based on integral backstepping adaptive sliding mode control(IBASMC) and improved master-slave control is proposed.On the single axis, the position controller using integral backstepping adaptive sliding mode control is adopted to reduce the position tracking error effectively.The improved master-slave control is adopted on the biaxis, and the synchronization error between the two axes is significantly reduced by comparing it with the common master-slave control.The simulation results show that the proposed control method can effectively improve the tracking accuracy, anti-interference ability and synchronization accuracy of the H-type motion platform.
Due to uncertain factors such as mechanical coupling and different load disturbance between two linear motors of H-type motion platform which lead to the problem of unsynchronous motion of two linear motors.Therefore, a control scheme based on integral backstepping adaptive sliding mode control(IBASMC) and improved master-slave control is proposed.On the single axis, the position controller using integral backstepping adaptive sliding mode control is adopted to reduce the position tracking error effectively.The improved master-slave control is adopted on the biaxis, and the synchronization error between the two axes is significantly reduced by comparing it with the common master-slave control.The simulation results show that the proposed control method can effectively improve the tracking accuracy, anti-interference ability and synchronization accuracy of the H-type motion platform.
引文
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[2] 马素君,谢武斌.基于RBF神经网络的永磁同步直线电机全局滑模控制[J].组合机床与自动化加工技术,2012(7):82-84.
[3] 凌睿,柴毅.永磁直线同步电机多变量二阶滑模控制[J].中国电机工程学报,2009,29(36):60-66.
[4] 王洪斌,焦守江,余君.欠驱动平面机械手自适应模糊滑模控制[J].系统仿真学报,2006,18(7):1893-1896,1901.
[5] 付子义,李华群,王振峰.基于神经网络推力观测器的永磁直线电机滑模控制[J].电气传动,2009,39(11):48-51.
[6] 谷志峰,朱长青.不确定参数快估反演自适应最优L2增益控制[J].系统工程与电子技术,2016,38(8):1909-1916.
[7] Kaddissi C,Kenne J P,Saad M.Identific-atification and real-time control of an electrohydraulic servo system based on nonlinear backstepping[J].IEEE/ASME Trans-actions onMechatronics,2007,12(1):12-22.
[8] Tan Y,Chang J,Tan H.Adaptive backste-pping control and friction compensation for AC servo with inertia and load u-ncertainties[J].IEEE Transactions an In-dus-trial Electronics,2003,50(5):944-952.
[9] Yu J T,Chang J.A new adaptive back-stepping control algorithm for motion control system[J].Proceedings of the Power Conversion Conference,PCC-Osa-ka 2002,IEEE,2002(11):206-210.
[10] 罗亚琴,孙建忠,刘然.基于转矩跟随主从控制策略的多电机同步控制[J].电机技术学报,2011,12(25):8-11.
[11] 杨晨娜.多电机同步控制方式的研究[J].知识经济,2011(12):99-100.
[12] 李金鹏.双直流伺服电机同步协调控制方法研究[J].价值工程,2018(2):111-112.