Abstract：Combining adaptive backstepping sliding mode control (ABSMC) with multi-segment velocity planning (MVP) method for the high precision permanent magnet linear synchronous motor (PMLSM) servo system which is vulnerable to influence of the uncertainties, such as the friction force, the load disturbances and parameter variations. The dynamic model of the PMLSM with the uncertainties was established,and the adaptive law was designed by using backstepping control method, conventional sliding mode control and Lyapunov function. It is proved theoretically that the proposed controller can inhibit the uncertainty factors and guarantee robust performance and rapid tracking capability. In order to further reduce the transient overshoot, the velocity sliding mode function of each stage was designed. MVP and switching control is used to change the system control mode and achieve the high-precision position control.The system experiment results confirm the effectiveness and feasibility of the control scheme. The position accuracy of PMLSM is improved and the transient overshoot is reduced.
赵希梅, 吴勇慷. 基于多阶段速度规划的PMLSM自适应反推滑模控制[J]. 电工技术学报, 2018, 33(3): 662-669.
ZhaoXimei, WuYongkang. Adaptive Backstepping Sliding Mode Control for PMLSM Based on Multi-Segment Velocity Planning. Transactions of China Electrotechnical Society, 2018, 33(3): 662-669.
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2018, Vol. 33 
