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Back-SteppingSlidingModeControlofLaserCutting PermanentMagnetLinearServoControlSystem |
ZhangBo1,2, QiRong1, LinHui1 |
1.SchoolofAutomationNorthwesternPolytechnicalUniversityXi’an710129China 2.SchoolofElectronicsandInformationXi’anPolytechnicUniversity Xi’an710048China |
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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.
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Received: 21 October 2016
Published: 26 February 2018
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