可控励磁直线同步电动机的全局积分Terminal滑模控制
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摘要
为提高可控励磁直线磁悬浮同步电动机进给系统的快速性与鲁棒性,提出全局积分Terminal滑模控制策略.构造新型的全局积分Terminal滑模面,对系统状态任意初值可在有限时间内收敛到零点,在趋近律中引入衰减因子,可减小系统抖振;在构造滑模面和趋近律的基础上设计全局积分Terminal滑模速度控制器;为进一步削弱滑模控制的抖振,减小切换增益,用径向基函数神经网络设计扰动观测器,并对扰动进行前馈补偿控制.仿真结果表明全局积分Terminal滑模控制策略能够明显改善系统的动态性能,缩短误差的收敛时间,提高系统抑制扰动的能力,削弱系统的抖振,增强系统的鲁棒性.
In order to improve the fastness and robustness of the feeding system of controllable Excitation Linear magnetic levitation synchronous motor, a global integral terminal sliding mode control strategy is proposed. By constructing a new type of global integral terminal sliding surface, any initial value of the state of the system can converge to zero within a finite time. By introducing the attenuation factor into the reaching law, the system chattering can be reduced. On the basis of constructing the sliding surface and the reaching law, a speed global integral terminal sliding mode controller is designed. In order to further weaken the chattering of sliding mode control and reduce the switching gain, the disturbance observer is designed by radial basis function neural network and the feedforward compensation control of the disturbance is carried out. The simulation results show that the global integral terminal sliding mode control strategy can significantly improve the dynamic performance of the system, shorten the error convergence time, and improve the ability of the system to suppress the disturbance, weaken the system chattering and enhance the system robustness.
In order to improve the fastness and robustness of the feeding system of controllable Excitation Linear magnetic levitation synchronous motor, a global integral terminal sliding mode control strategy is proposed. By constructing a new type of global integral terminal sliding surface, any initial value of the state of the system can converge to zero within a finite time. By introducing the attenuation factor into the reaching law, the system chattering can be reduced. On the basis of constructing the sliding surface and the reaching law, a speed global integral terminal sliding mode controller is designed. In order to further weaken the chattering of sliding mode control and reduce the switching gain, the disturbance observer is designed by radial basis function neural network and the feedforward compensation control of the disturbance is carried out. The simulation results show that the global integral terminal sliding mode control strategy can significantly improve the dynamic performance of the system, shorten the error convergence time, and improve the ability of the system to suppress the disturbance, weaken the system chattering and enhance the system robustness.
引文
[1]SUN Yibiao,WANG Yapeng,LIU Chunfang.Adaptive interval type-2 fuzzy sliding mode control for permanent magnet linear motor.Journal of Shenyang University of Technology,2017,39(6):601-606.(孙宜标,王亚朋,刘春芳.永磁直线电机自适应区间二型模糊滑模控制.沈阳工业大学学报,2017,39(6):601-606.)
[2] ZHOU Ying, HE Lei, ZHENG Feng. Iterative learning control for linear motor system with time delay and data dropout. Control Theory&Applications, 2017, 34(12):1631–1636.(周颖,何磊,郑凤.具有时延和数据丢失的直线电机迭代学习控制.控制理论与应用, 2017, 34(12):1631–1636.)
[3] LAN Yipeng, HU Xuecheng, CHEN Qilin, et al. Finite element analysis of electromagnetic characteristics of controllable excitation magnetic suspension feed platform. Journal of Mechanical Engineering,2017, 53(4):184–189.(蓝益鹏,胡学成,陈其林,等.可控励磁磁悬浮进给平台电磁特性的有限元分析.机械工程学报, 2017, 53(4):184–189.)
[4] GUO X, WANG J, LIAO F. Distributed adaptive integrated-slidingmode controller synthesis for string stability of vehicle platoons.IEEE Transactions on Intelligent Transportation Systems, 2016,17(9):2419–2429.
[5] YANG Xiaoqian, LI Jian, DONG Yi. A novel non-singular fast terminal sliding mode control of nonlinear systems with uncertain disturbances. Control Theory&Applications, 2016, 33(6):772–778.(杨晓骞,李健,董毅.非线性不确定系统的非奇异快速终端滑模控制.控制理论与应用, 2016, 33(6):772–778.)
[6] XIONG Shaofeng, WANG Weihong, WANG Sen. Nonsingular fast terminal sliding-mode guidance with intercept angle constraint. Control Theory&Applications, 2014, 31(3):269–278.(熊少锋,王卫红,王森.带攻击角度约束的非奇异快速终端滑模制导律.控制理论与应用, 2014, 31(3):269–278.)
[7] LIU Jinkun. Sliding Mode Control Design and MATLAB Simulation the Basic Theory and Design Method. The third edition. Beijing:Tsinghua University Press, 2015.(刘金琨.滑模变结构控制MATLAB仿真基本理论与设计方法.第3版.北京:清华大学出版社, 2015.)
[8] MATAS J, VICUNA L, MIRET J. Feedback linearization of a singlephase active power filter via sliding mode control. IEEE Transactions on Power Electronics, 2008, 23(1):116–125.
[9] CAO J B, CAO B G. Fuzzy-logic-based sliding mode controller design for position sensorless electric vehicle. IEEE Transactions on Power Electronics, 2009, 24(10):2368–2378.
[10] KOMURCUGIL H. Rotating-sliding-line-based sliding mode control for single-phase UPS inverters. IEEE Transactions on Industrial Electronics, 2012, 59(10):3719–3726.
[11] ZHANG Xi, CHEN Zongxiang, Pan Junmin, et al. Fixed boundary layer sliding mode control of permanent magnet linear synchronous motor. Proceedings of the CSEE, 2006, 26(22):115–121.(张希,陈宗祥,潘俊民,等.永磁直线同步电机的固定边界层滑模控制.中国电机工程学报, 2006, 26(22):115–121.)
[12] ZHANG Hexin, FAN Jinsuo, MENG Fei, et al. A new double power reaching law for sliding mode control. Control and Decision, 2013,28(2):289–293.(张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律.控制与决策, 2013, 28(2):289–293.)
[13] LI Zheng, HU Guangda, CUI Jiarui, et al. Sliding-mode variable structure control with integral action for permanent magnet synchronous motor. Proceedings of the CSEE, 2014, 34(3):431–437.(李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制.中国电机工程学报, 2014, 34(3):431–437.)
[14] YU X, MAN Z. Fast terminal sliding-mode control design for nonlinear dynamical systems. IEEE Transactions on Circuits and Systems I:Fundamental Theory and Applications, 2002, 49(2):261–264.
[15] CHEN S Y, LIN F J. Robust nonsingular terminal sliding-mode control for nonlinear magnetic bearing system. IEEE Transactions on Control Systems Technology, 2011, 19(3):636–643.
[16] BAO Guangqing, LIANG Tongchuan. Modeling of long-stator linear synchronous motors based on winding function. Journal of Mechan-ical and Electrical Engineering, 2014, 31(3):361–366.(包广清,梁铜川.基于绕组函数的长定子直线同步电机建模研究.机电工程, 2014, 31(3):361–366.)
[2] ZHOU Ying, HE Lei, ZHENG Feng. Iterative learning control for linear motor system with time delay and data dropout. Control Theory&Applications, 2017, 34(12):1631–1636.(周颖,何磊,郑凤.具有时延和数据丢失的直线电机迭代学习控制.控制理论与应用, 2017, 34(12):1631–1636.)
[3] LAN Yipeng, HU Xuecheng, CHEN Qilin, et al. Finite element analysis of electromagnetic characteristics of controllable excitation magnetic suspension feed platform. Journal of Mechanical Engineering,2017, 53(4):184–189.(蓝益鹏,胡学成,陈其林,等.可控励磁磁悬浮进给平台电磁特性的有限元分析.机械工程学报, 2017, 53(4):184–189.)
[4] GUO X, WANG J, LIAO F. Distributed adaptive integrated-slidingmode controller synthesis for string stability of vehicle platoons.IEEE Transactions on Intelligent Transportation Systems, 2016,17(9):2419–2429.
[5] YANG Xiaoqian, LI Jian, DONG Yi. A novel non-singular fast terminal sliding mode control of nonlinear systems with uncertain disturbances. Control Theory&Applications, 2016, 33(6):772–778.(杨晓骞,李健,董毅.非线性不确定系统的非奇异快速终端滑模控制.控制理论与应用, 2016, 33(6):772–778.)
[6] XIONG Shaofeng, WANG Weihong, WANG Sen. Nonsingular fast terminal sliding-mode guidance with intercept angle constraint. Control Theory&Applications, 2014, 31(3):269–278.(熊少锋,王卫红,王森.带攻击角度约束的非奇异快速终端滑模制导律.控制理论与应用, 2014, 31(3):269–278.)
[7] LIU Jinkun. Sliding Mode Control Design and MATLAB Simulation the Basic Theory and Design Method. The third edition. Beijing:Tsinghua University Press, 2015.(刘金琨.滑模变结构控制MATLAB仿真基本理论与设计方法.第3版.北京:清华大学出版社, 2015.)
[8] MATAS J, VICUNA L, MIRET J. Feedback linearization of a singlephase active power filter via sliding mode control. IEEE Transactions on Power Electronics, 2008, 23(1):116–125.
[9] CAO J B, CAO B G. Fuzzy-logic-based sliding mode controller design for position sensorless electric vehicle. IEEE Transactions on Power Electronics, 2009, 24(10):2368–2378.
[10] KOMURCUGIL H. Rotating-sliding-line-based sliding mode control for single-phase UPS inverters. IEEE Transactions on Industrial Electronics, 2012, 59(10):3719–3726.
[11] ZHANG Xi, CHEN Zongxiang, Pan Junmin, et al. Fixed boundary layer sliding mode control of permanent magnet linear synchronous motor. Proceedings of the CSEE, 2006, 26(22):115–121.(张希,陈宗祥,潘俊民,等.永磁直线同步电机的固定边界层滑模控制.中国电机工程学报, 2006, 26(22):115–121.)
[12] ZHANG Hexin, FAN Jinsuo, MENG Fei, et al. A new double power reaching law for sliding mode control. Control and Decision, 2013,28(2):289–293.(张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律.控制与决策, 2013, 28(2):289–293.)
[13] LI Zheng, HU Guangda, CUI Jiarui, et al. Sliding-mode variable structure control with integral action for permanent magnet synchronous motor. Proceedings of the CSEE, 2014, 34(3):431–437.(李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制.中国电机工程学报, 2014, 34(3):431–437.)
[14] YU X, MAN Z. Fast terminal sliding-mode control design for nonlinear dynamical systems. IEEE Transactions on Circuits and Systems I:Fundamental Theory and Applications, 2002, 49(2):261–264.
[15] CHEN S Y, LIN F J. Robust nonsingular terminal sliding-mode control for nonlinear magnetic bearing system. IEEE Transactions on Control Systems Technology, 2011, 19(3):636–643.
[16] BAO Guangqing, LIANG Tongchuan. Modeling of long-stator linear synchronous motors based on winding function. Journal of Mechan-ical and Electrical Engineering, 2014, 31(3):361–366.(包广清,梁铜川.基于绕组函数的长定子直线同步电机建模研究.机电工程, 2014, 31(3):361–366.)