激光切割永磁直线伺服系统的反演滑模控制

doi:10.19595/j.cnki.1000-6753.tces.161675

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (1871 KB)
输出: BibTeX | EndNote (RIS)

摘要针对用于激光切割的永磁直线伺服系统,采用反演滑模控制策略对系统进行分块处理,为提高系统精度,增强系统的鲁棒性和降低抖振,分别对位置环和电流环独立设计滑模控制器。考虑运动伺服系统在低速时存在的摩擦和扰动,在位置控制器的设计中,采用非线性双观测器方法对不可测LuGre模型的摩擦状态及参数进行估计,提出自适应指数趋近律滑模控制方法对摩擦力和扰动进行前馈补偿。电流控制器采用无抖振终端滑模控制方法设计。利用Lyapunvo函数证明了所设计的方法具有全局有限时间收敛特性并能够保证系统全局稳定。最后,在激光切割永磁直线伺服实验台上,应用三闭环PID方法和该文所提方法对位置和速度跟踪性能进行对比实验,实验结果表明,该文所提方法可有效提高激光切割直线伺服系统的控制性能。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	张博
	齐蓉
	林辉

Abstract：Inthispaper,aback-steppingslidingmodecontrolstrategyisadoptedforlasercuttingservocontrolsystemdrivenbypermanentmagnetlinearsynchronousmotors(PMLSM),whereitisusedtobreakthecontrolsystemintosubsystemsforimprovedcontrol.Inordertoimproveprecision,strengthenrobustnessanddecreasechatteringinthecontrolsystem,thepositionandcurrentloopsareindependentlydesignedbyusingslidingmodecontrolmethods.Inthepositionloop,thefrictionanddisturbanceofthelow-speed-motionservosystemareconsidered,adualobserverisdesignedtoestimatetheunmeasuredstateandparametersofLuGrefrictionmodel,andanadaptiveexponentialreachinglawslidingcontrollerisproposedforfrictionanddisturbancefeedforwardcompensation.Incurrentloop,thechattering-freeterminalslidingmodecontrollerisdesigned.TheglobalstabilityandglobalfinitetimeconvergenceperformancehasbeenprovedbyLyapunvofunction.Finally,inordertoobservetheservotrackingperformanceofpositionandvelocity,thethree-close-loopPIDcontrolmethodandtheproposedmethodhavebeencomparativelytestedonthelasercuttingpermanent-magnet-linearservobench.Theexperimentalresultsshowthattheproposedcontrolmethodcaneffectivelyimprovethecontrolperformanceofthelasercuttingservosystem.

Key words： Permanentmagnetlinearservo back-steppingslidingmode exponentialreachinglaw chatteringfreeterminalsliding trackingperformance

收稿日期: 2016-10-21 出版日期: 2018-02-26

PACS:	TM359.4
	TP273

基金资助:国家自然科学基金（51407143）、高等学校博士学科点专项科研基金（20136102120049）、陕西省自然科学基础研究计划（2014JQ7264）、陕西省微特电机及驱动技术重点实验室开放基金（2013SSJ10022）和中央高校基本科研业务费专项资金（3102014JCQ01066）资助项目

通讯作者: 张博男,1981年生,博士研究生,研究方向为永磁直线电机系统及其控制。E-mail：paul8899@126.com

作者简介: 齐蓉女,1962年生,教授,博士,博士生导师,研究方向为控制系统故障诊断与容错设计、运动控制技术、控制系统可靠性分析与设计、控制理论与应用。E-mail：lhqr@nwpu.edu.cn

引用本文:

张博, 齐蓉, 林辉. 激光切割永磁直线伺服系统的反演滑模控制[J]. 电工技术学报, 2018, 33(3): 642-651. ZhangBo, QiRong, LinHui. Back-SteppingSlidingModeControlofLaserCutting PermanentMagnetLinearServoControlSystem. Transactions of China Electrotechnical Society, 2018, 33(3): 642-651.

链接本文:

https://dgjsxb.ces-transaction.com/CN/10.19595/j.cnki.1000-6753.tces.161675 https://dgjsxb.ces-transaction.com/CN/Y2018/V33/I3/642

[1] 寇宝泉, 张赫, 郭守仑, 等.辅助极一体式永磁同步直线电机端部定位力抑制技术[J].电工技术学报,2015,30(6):106-113.
KouBaoquan, ZhangHe, GuoShoulun, etal.Endeffectdetentforcereductionforpermanentmagnetlinearsynchronousmotorswithauxiliarypolesone-piecestructure[J].TransactionsofChinaElectrotechnicalSociety,2015,30(6):106-113.
[2] 张春良,陈子辰,梅德庆.直线驱动新技术及其在加工装备上的应用[J].电工技术学报,2002,17(5):45-49.
ZhangChunliang,ChenZichen,MeiDeqing.Linearmotordirectdrivetechnologyanditsapplicationsinmachinetools[J].TransactionsofChinaElectrotechnicalSociety,2002,17(5):45-49.
[3] 孙宜标,杨雪,夏加宽.基于二阶滑模的永磁直线同步电机的鲁棒速度控制[J].电工技术学报,2007,22(10):35-41.
SunYibiao,YangXue,XiaJiakuan.Robustspeedcontrolofpermanent-magnetlinearsynchronousmotorbasedonthesecondorderslidingmode[J].TransactionsofChinaElectrotechnicalSociety,2007,22(10):35-41.
[4] ZhangWenjing,LiPengyu,XuHongze.Anactivedisturbancerejectionfrictioncompensationinpermanentmagnetsynchronousmotorservosystem[C]//Proceedingsofthe30thChineseControlConference(CCC),Yantai, China, 2011:3715-3719.
[5] FreidovichL,RobertssonA,ShiriaevA,etal.LuGre-model-basedfrictioncompensation[J].IEEETransactionsonControlSystemsTechnology,2010,18(1):194-200.
[6] 张文静, 徐洪泽.基于滑模观测器的交流伺服系统摩擦力矩自适应补偿控制[C]//中国智能自动化会议,北京,2011.
ZhangWenjing,XuHongze.AdaptivecompensatecontrolofACservosystemfrictiontorquebasedonslidingmodeobserver[C]//ChineseIntelligentConference,Beijing,2011.
[7] HuangSJ,ChiuCM.OptimalLuGrefrictionmodelidentificationbasedongeneticalgorithmandslidingmodecontrolofapiezoelectric-actuatingtable[J].TransactionsoftheInstituteofMeasurement&Control,2009,31(2):181-203.
[8] XieWenfang.Sliding-mode-observer-basedadaptivecontrolforservoactuatorwithfriction[J].IEEETransactionsonIndustrialElectronics,2007,54(3):1517-1527.
[9] HanSI,LeeKS.Slidingmode-basedfrictioncontrolwithadaptivedualfrictionobserverandintelligentuncertaintycompensator[J].ProceedingsoftheInstitutionofMechanicalEngineersPartIJournalofSystems&ControlEngineering,2009,223(8):1129-1147.
[10] 周金柱,段宝岩,黄进.LuGre摩擦模型对伺服系统的影响与补偿[J].控制理论与应用,2008,25(6):990-994.
ZhouJinzhu, DuanBaoyan, HuangJin.EffectandcompensationforservosystemsusingLuGrefrictionmodel[J].ControlTheoryandApplication,2008,25(6):990-994.
[11] NiZhisheng,WangMingyan.ResearchonthefuzzyneuralnetworkPIDcontrolofloadsimulatorbasedonfrictiontorquecompensation[C]//SixthInternationalConferenceonIntelligentHuman-MachineSystemsandCybernetics,Hangzhou,China,2014:1253-1254.
[12] RudasIJ,TarJK,PatkaiB.Compensationofdynamicfrictionbyafractionalorderrobustcontroller[C]//IEEEInternationalConferenceonComputationalCybernetics,2006:421-432.
[13] LuLu,YaoBin,WangQingfeng,etal.AdaptiverobustcontroloflinearmotorsystemswithdynamicfrictioncompensationusingmodifiedLuGremodel[J].Automatica,2009,45(2):2890-2896.
[14] 赵希梅, 郭庆鼎.基于学习前馈补偿的直线伺服系统H∞鲁棒跟踪控制[J].电工技术学报,2005,20(4):78-82.
ZhaoXimei,GuoQingding.H∞robusttrackingcontrolforthelinearservosystembasedonthelearningfeedforwardcompensation[J].TransactionsofChinaElectrotechnicalSociety,2005,20(4):78-82.
[15] 杜仁慧,吴益飞,陈威,等.考虑LuGre摩擦的伺服系统自适应模糊控制[J].控制与决策,2013, 28(8):1253-1256.
DuRenhui, WuYifei, ChenWei,etal.AdaptivefuzzycontrolfortheservosystemwithLuGrefriction[J].Control&Decision,2013,28(8):1253-1256.
[16] 张代林,陈幼平,艾武,等.永磁直线电机保证稳态精度的模糊控制[J].电工技术学报,2007,22(4):64-68.
ZhangDailin,ChenYouping,AiWu,etal.AprecisionfuzzycontrolmethodofPMLMs[J].TransactionsofChinaElectrotechnicalSociety,2007,22(4):64-68.
[17] LiuYu,HouChaohuan,MaXiaochuan.Backsteppingbasedintegralslidingmodecontrolforautonomousunderwatervehicles[C]//32ndChineseControlConference,Xi’an,China,2013.
[18] 付培华,陈振,丛炳龙,等.基于反步自适应滑模控制的永磁同步电机位置伺服系统[J].电工技术学报,2013,28(9):288-293.
FuPeihua,ChenZhen,CongBinglong,etal.Apositionservosystemofpermanentmagnetsynchronousmotorbasedonbacksteppingadaptiveslidingmodecontrol[J].TransactionsofChinaElectrotechnicalSociety,2013,28(9):288-293.
[19] HamoudaKB,SellamiA,KsouriM.Achatteringfreecontrolapproachbasedondynamicalmulti-slidingsurfaces[C]//16thIEEEInternationalConferenceonElectronics,Circuits,andSystems,YasmineHammamet,Tunisia,2009.
[20] 方一鸣,李智,吴洋羊,等.基于终端滑模负载观测器的永磁同步电机位置系统反步控制[J].电机与控制学报,2014,18(9):105-111.
FangYiming,LiZhi,WuYangyang,etal.BacksteppingcontrolofPMSMpositionsystemsbasedonterminal-sliding-modeloadobserver[J].ElectricMachine&Control,2014,18(9):105-111.
[21] ZhangYangming,YanPeng,ZhangZhen.Highprecisiontrackingcontrolofaservogantrywithdynamicfrictioncompensation[J].IsaTransactions,2016,62:349-356.
[22] FengYong,HanFengling,YuXinghuo.Chatteringfreefull-ordersliding-modecontrol[J].Automatica,2014,50(4):1310-1314.
[23] WangMingyi,LiLiyi,PanDonghua,etal.High-bandwidthandstrongrobustcurrentregulationforPMLSMdrivesconsideringthrustripple[J].IEEETransactionsonPowerElectronics,2016,31(9):6646-6657.
[24] YangJun,LiuHuixian,LiShihua,etal.NonlineardisturbanceobserverbasedrobusttrackingcontrolforaPMSMdrivesubjecttomismatcheduncertainties[C]//31stChineseControlConference,Hefei,China,2012.
[25] KoshkoueiAJ, ZinoberASI.Adaptivebacksteppingcontrolofnonlinearsystemswithunmatcheduncertainty[C]//39thIEEEConferenceonDecisionandControl,Sydney,NSW,Australia,2000.
[26] 高为炳. 变结构控制的理论及设计方法[M].北京: 科学出版社, 1996.
[27] KoshkoueiAJ,ZinoberASI.Fastterminalslidingmodecontrollerdesignfornonlinearsecond-ordersystemswithtime-varyinguncertainties[J].Complexity,2014,2(2):239-244.
[28] 王艳敏,冯勇,陆启良.永磁同步电动机的无抖振滑模控制系统设计[J].电机与控制学报,2008,12(5):514-519.
WangYanmin,FengYong,LuQiliang.Designoffree-chatteringslidingmodecontrolsystemsforPMSM[J].ElectricMachine&Control,2008,12(5):514-519.
[29] YuShuanghe,YuXinghuo,ShirinzadehB,etal.Continuousfinite-timecontrolforroboticmanipulatorswithterminalslidingmode[J].Automatica,2005,41(11):1957-1964.