电工技术学报  2025, Vol. 40 Issue (8): 2464-2476    DOI: 10.19595/j.cnki.1000-6753.tces.L11001
电机及其系统 |
分段供电永磁直线同步电机的新型滑模速度控制策略
周世炯1,2, 李耀华1,2, 史黎明1,2, 孔甘霖1,2, 刘进海1,2
1.高密度电磁动力与系统全国重点实验室 中国科学院电工研究所 北京 100190;
2.中国科学院大学 北京 100049
Novel Sliding Mode Speed Control Strategy of Permanent Magnet Linear Synchronous Motors with Section Power Supply
Zhou Shijiong1,2, Li Yaohua1,2, Shi Liming1,2, Kong Ganlin1,2, Liu Jinhai1,2
1. State Key Laboratory of High Density Electromagnetic Power and Systems Institute of Electrical Engineering Chinese Academy of Sciences Beijing 100190 China;
2. University of Chinese Academy of Sciences Beijing 100049 China
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摘要 针对分段供电永磁直线同步电机（PMLSM）在运行过程中易受外部扰动、参数变化等因素的影响,该文提出了一种新型滑模控制器与终端滑模扰动观测器（TSMDO）相结合的速度控制策略。首先,分析了传统滑模控制器存在收敛速度和抖振程度相互矛盾的问题。其次,设计了一种新型的滑模趋近律,使得所提滑模速度控制（SMSC）加快了系统的收敛速度、抑制了滑模的抖振、保证了电机速度跟踪的动态性能。然后,为了提升电机速度跟踪的稳态性能,基于终端滑模理论设计了TSMDO,该观测器可以对外部扰动、参数变化等不确定性因素进行观测并补偿。最后,通过与PI控制、传统SMSC的对比实验,验证了所提控制策略的有效性。实验结果表明,所提控制策略不仅提高了分段供电PMLSM速度跟踪的动态和稳态性能,而且减小了加速度波动。
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周世炯
李耀华
史黎明
孔甘霖
刘进海
关键词 ： 永磁直线同步电机,  加速度波动,  滑模速度控制,  终端滑模扰动观测器    
Abstract：Permanent magnet linear synchronous motors with section power supply are affected by disturbances like load force, detent force, and friction force. In the field of electromagnetic drive, the stator track is long. Linear motors usually adopt a segmented structure to save inverter capacity. However, it is difficult to ensure that the air gap of each segmented stator is equal during installation. Therefore, the mover is affected by the normal force. In addition, the load is usually accelerated to the target speed in a short time, so electromagnetic drive devices are usually operated under high current and high acceleration conditions, where the motor parameters are prone to change. Due to the lack of intermediate transmission devices in PMLSMs, these disturbances will directly affect the motor drive system and are included in the output of the controller. An SMSC with a novel convergence law is designed to ensure the fast convergence of speed and suppress the chattering. The designed TSMDO observes the disturbance output to ensure the disturbance suppression performance. Then, the acceleration fluctuations are reduced, and the thrust fluctuations are suppressed in the motor output.
Firstly, a mechanical motion model of PMLSM is established based on Newton's second law. It takes the disturbances as the lumped disturbance d(t) caused by load force, detent force, friction force, normal force, and parameter variation. Secondly, the shortcomings of conventional sliding mode control are analyzed, and a new adaptive sliding mode approaching law is proposed. The designed sliding mode approaching law ensures that variables can approach the sliding mode surface at a fast speed. As the state variables of the system gradually approach the sliding mode surface, the designed sliding mode approaching law can reduce the speed to weaken chattering. Then, due to the presence of d(t) in the output of the sliding mode speed controller, the TSMDO is designed to compensate for it. This observer is equivalent to a first-order low-pass filter. Finally, the proposed SMSC strategy is compared with PI control and conventional SMSC.
The experiments show that the PI controller can improve the dynamic tracking performance of speed by increasing h. However, this increases the acceleration fluctuation. At the same time, there is a noticeable overshoot when the rotor enters the constant speed range. The conventional SMSC has better dynamic tracking performance than PI control, resulting in small acceleration fluctuations. However, due to the fixed sliding mode gain, the increasing sliding mode gain increases the overshoot. The proposed SMSC has a faster tracking speed and better dynamic response than the conventional approaching law because of the new sliding mode approaching law. The proposed SMSC can adaptively change its gain when the speed state changes, ensuring good speed-tracking performance and reducing overshoot. The designed TSMDO effectively reduces the impact of thrust disturbances, acceleration fluctuations, and thrust fluctuations.
The main conclusions are as follows. (1) The proposed new sliding mode approaching law has a fast convergence speed due to the adaptive gain function f(x1, s) for adaptively adjusting the sliding mode gain. It can weaken chattering, ensuring speed dynamic tracking performance and convergence speed. (2) The designed TSMDO has a small chattering phenomenon. The introduction of TSMDO effectively suppresses the total disturbance d(t) in the SMSC output, reduces acceleration fluctuations, and ensures stable thrust output of the motor.
Key words： Permanent magnet linear synchronous motors    acceleration fluctuations    sliding mode speed control    terminal sliding mode disturbance observer   
收稿日期: 2024-07-04     
PACS: TM359.4  
基金资助:电磁驱动高速科学研究与试验设施关键技术及验证资助项目（E139320101）
通讯作者: 史黎明 男,1964年生,研究员,博士生导师,研究方向为特种电机设计和驱动控制、无线电能传输技术等。E-mail: limings@mail.iee.ac.cn   
作者简介: 周世炯 男,1995年生,博士研究生,研究方向为大功率电力电子变换技术与直线电机驱动控制。E-mail: shijiongz@mail.iee.ac.cn
引用本文:   
周世炯, 李耀华, 史黎明, 孔甘霖, 刘进海. 分段供电永磁直线同步电机的新型滑模速度控制策略[J]. 电工技术学报, 2025, 40(8): 2464-2476. Zhou Shijiong, Li Yaohua, Shi Liming, Kong Ganlin, Liu Jinhai. Novel Sliding Mode Speed Control Strategy of Permanent Magnet Linear Synchronous Motors with Section Power Supply. Transactions of China Electrotechnical Society, 2025, 40(8): 2464-2476.
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