永磁直线同步电机自适应分数阶终端滑模控制

doi:10.19595/j.cnki.1000-6753.tces.221489

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Abstract Permanent magnet linear synchronous motor (PMLSM) has been increasingly used in many high precision machining applications due to its advantages of high response, high stiffness and high precision. However, the position tracking performance of PMLSM is susceptible to various uncertainties such as load disturbance and mass change of actuator, because of the omission of the mechanical transmission. Recently, terminal sliding mode control methods have been proposed to improve the tracking performance of PMLSM. However, the design of the controller is dependent on the upper bound of system disturbances. To address this problem, an adaptive fractional-order terminal sliding mode control strategy based on a positive semi-definite barrier function (PSB-AFTSMC) is proposed.
Firstly, the dynamic model of PMLSM with uncertainties is established. Then, the fractional-order terminal sliding mode control method is used to suppress the influence of uncertain factors on the system, which ensures that the tracking error converges in finite time and reduces steady-state error. To further improve the robust performance of the system, the upper bound of the uncertain disturbance is estimated in real time using the adaptive sliding mode control law, which avoids the overestimation of the control gain, enhances the robustness of the system, and makes the system error converge to a predefined zero neighborhood. Finally, experimental results show that the strategy improves the tracking accuracy of the system and has strong robustness to load disturbance and payload variations.
In order to highlight the superiority of the proposed method, the fractional-order terminal sliding mode control (FTSMC) method and the PSB-AFTSMC method are sequentially performed on a linear motor motion stage for position tracking experiments. When 2kg payload is added, the fluctuation frequency of steady-state error curve of the PSB-AFTSMC is greater than that of steady-state error curve under nominal conditions, but the fluctuation amplitude does not change much. Compared with the FTSMC, the PSB-AFTSMC has a smaller tracking error, and the tracking error is reduced by about 60%. Furthermore, in the nominal state, sudden application of variable load disturbance to the linear motor system shows significant fluctuations in the error curve based on both control methods, but the fluctuation amplitude of the PSB-AFTSMC is small, which remains within 15μm. However, the tracking error curve of the FTSMC method fluctuates with large amplitude, especially in the period of 3~6 seconds, and fluctuates greatly twice with the maximum amplitude reaching about 40μm. The superiority of the PSB-AFTSMC is reflected in the ability to adapt switching control to amplitude varying disturbances without the constraint information of disturbances, while the FTSMC control method depends on the upper bound of uncertain disturbance. Finally, to verify that different orders have a certain impact on the control performance, an additional set of experiment that only change order-value is done. The experimental result shows that the fractional-order terminal sliding mode controller based 0.5 order has better control performance.
The following conclusions can be drawn from the experimental analysis: 1) Aiming at the permanent magnet linear synchronous motor motion platform under the influence of uncertain factors, the PSB-AFTSMC-based system has strong robustness, better tracking performance, and the accuracy is maintained within 15μm. Moreover, the tracking performance varies at different orders and the fractional-order sliding mode control system near the 0.5 order has better steady-state performance. 2) The adaptive adjustment of the amplitude of the control input by using the positive semi-definite barrier function solves the problem of sliding mode control relying on the bound information of the system disturbance, which is more suitable for practical applications.

Key words： Permanent magnet linear synchronous Motor adaptive fractional-order terminal sliding mode control positive semi-definite barrier function robustness

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	Zhao Xinyu
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Zhao Xinyu,Wang Limei. Adaptive Fractional-Order Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor[J]. Transactions of China Electrotechnical Society, 0, (): 67-67.

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