Abstract：In order to solve the problem that permanent magnet linear synchronous motor (PMLSM) is sensitive to uncertainty factors such as parameter variations, external disturbances and frictions, a dynamic boundary layer global complementary sliding mode control (GCSMC) method was proposed. Firstly, the mathematical model of PMLSM including uncertainty factors was established. Then a complementary sliding mode controller was designed by combining generalized sliding mode surface with complementary sliding mode surface to suppress the influence of uncertainty factors on the system and then weaken the chattering. However, the thickness of boundary layer is constant, so the state trajectory of the system can only converge within the boundary layer. Therefore, a new saturation function was used to design a global complementary sliding mode controller to realize the dynamic change of boundary layer, which can reduce the boundary layer thickness with the change of state trajectory until it converges to the switching surface, thereby further improving the robustness of the system in the boundary layer. The experimental results show that the method not only improves the tracking performance, but also guarantees the global robustness of the system.
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2020, Vol. 35 
