Abstract：When the linear servo system was used in some high-response and high-accuracy occasion, permanent magnet linear synchronous motor’s time scale of the dynamic process of the current was close to that of its speed. Hence, if the three closed-loop PID control method based on traditional vector control was employed for static decoupling, tracking performance would be compromised due to non-linear coupling between current and speed. To address this problem, a LMI-based sliding mode control scheme was proposed in this paper for displacement tracking control in the linear servo system. The electronic sub-system and the mechanical sub-system were controlled as a whole. The sliding mode control law was designed via linear matrix inequalities (LMIs).The extended sliding mode observer was designed to observe the load disturbance robustly for ensuring the system’s tracking performance. Experiments are performed to compare with the three closed-loop PID control method. Results demonstrate that the proposed method achieves more robust performance and faster dynamic response.
孙宜标, 仲原, 刘春芳. 基于LMI的直线伺服滑模位移跟踪控制[J]. 电工技术学报, 2019, 34(1): 33-40.
Sun Yibiao, Zhong Yuan, Liu Chunfang. LMI-Based Sliding Mode Displacement Tracking Control for Permanent Magnet Linear Synchronous Motor. Transactions of China Electrotechnical Society, 2019, 34(1): 33-40.
[1] 赵希梅, 王晨光. 永磁直线同步电机的自适应增量滑模控制[J]. 电工技术学报, 2017, 32(11): 111-117.Zhao Ximei, Wang Chenguang. Adaptive incremental sliding mode control for permanent magnet linear synchronous motor[J]. Transactions of China Electrotechnical Society, 2017, 32(11): 111-117. [2] 王丽梅, 孙璐, 初升. 基于经验模态分解算法的永磁直线同步电机迭代学习控制[J]. 电工技术学报, 2017, 32(6): 164-171. Wang Limei, Sun Lu, Chu Sheng. Iterative learning control of permanent magnet linear synchronous motor based on empirical mode decomposition algorithm[J]. Transactions of China Electrotechnical Society, 2017, 32(6): 164-171. [3] Liu Chao, Wang Hui, Wu Jianhua, et al.Design of an equivalent simulation platform for PMLSM-driven positioning system[C]//International Conference on Intelligent Robotics and Applications, Portsmouth, UK, 2015: 210-220. [4] 赵希梅, 马志军, 朱国昕. 基于迭代学习与FIR滤波器的PMLSM高精密控制[J]. 电工技术学报, 2017, 32(9): 10-15.Zhao Ximei, Ma Zhijun, Zhu Guoxin. High precision control for PMLSM based on iterative learning and FIR filter[J]. Transactions of China Electrotechnical Society, 2017, 32(9): 10-15. [5] Guo Qingding, Luo Ruifu, Wang Limei.Robust PMLSM servo system using disturbance observer based on acceleration control loop[C]//Sixth International Conference on Power Electronics and Variable Speed Drives, Nottingham, UK, 1996: 288-293. [6] Sun Xiaodong, Luo Shuai, Chen Long, et al.A linearization control scheme for permanent magnet linear synchronous motors[J]. Journal of Computational & Theoretical Nanoscience, 2015, 12(3): 459-463. [7] Raj P H, Maswood A I, Ooi G H P, et al. Multiple-pole multilevel diode clamped inverter for permanent magnet synchronous motor drive[C]//IEEE 11th International Conference on Power Electronics and Drive Systems. Sydney, NSW, Australia, 2015: 862-866. [8] 杨俊友, 马航, 关丽荣, 等. 永磁直线电机二维分段复合迭代学习控制[J]. 中国电机工程学报, 2010, 30(30): 74-80. Yang Junyou, Ma Hang, Guan Lirong, et al. Two dimensional segmented synthesis iterative learning control of permanent magnet linear motor[J]. Proceedings of the CSEE, 2010, 30(30): 74-80. [9] Park Y H, Lee H K, Park K T, et al.Practical behavior of advanced non-linear hydraulic servo system model for a mold oscillating mechanism depending on line volume[J]. Journal of Mechanical Science & Technology, 2016, 30(3): 975-982. [10] 赵希梅, 赵久威. 精密直驱龙门系统的交叉耦合互补滑模控制[J]. 电工技术学报, 2015, 30(11): 7-12. Zhao Ximei, Zhao Jiuwei. Cross-coupled complementary sliding mode control for precision direct-drive gantry system[J]. Transactions of China Electrotechnical Society, 2015, 30(11): 7-12. [11] 张晓光, 姜云蜂, 赵克, 等. 高速永磁同步电机滑模变结构一体化解耦控制[J]. 电力自动化设备, 2013, 33(6): 58-63.Zhang Xiaoguang, Jiang Yunfeng, Zhao Ke, et al. Sliding-mode variable-structure control of high-speed PMSM based on precision linearization control[J]. Electric Power Automation Equipment, 2013, 33(6): 58-63. [12] 张纯明, 郭庆鼎. 基于反馈线性化的交流直线永磁同步伺服电动机速度跟踪控制[J]. 电工技术学报, 2003, 18(3): 5-9.Zhang Chunming, Guo Qingding. Feedback linearization based control of speed tracking for AC linear permanent magnet synchronous servo motor[J]. Transactions of China Electrotechnical Society, 2003, 18(3): 5-9. [13] 杨俊友, 关丽荣. 数控机床直线伺服系统反推滑模控制的研究[J]. 组合机床与自动化加工技术, 2009(12): 45-47.Yang Junyou, Guan Lirong. Study on backstepping sliding mode control for linear servo system of NC machine tool[J]. Control Theory and Applications, 2009(12): 45-47. [14] 孙宜标, 杨雪, 夏加宽, 等. 基于对角化法的永磁直线同步电机二阶滑模控制[J]. 中国电机工程学报, 2008, 28(12): 124-128.Sun Yibiao, Yang Xue, Xia Jiakuan, et al. Second order sliding mode control of PMLSM based on diagonalization method[J]. Proceedings of the CSEE, 2008, 28(12): 124-128. [15] Lin Yiding, Simoncini V.A new subspace iteration method for the algebraic Riccati equation[J]. Numerical Linear Algebra with Applications, 2015, 22(1): 26-47.
2019, Vol. 34 
