关键词: 永磁超环面电动机, 新型趋近律, 滑模控制, 鲁棒性

Abstract:

A novel exponent reaching law of sliding mode control was applied to the toroidal motor, which solved the problem of difficulty in selecting the sliding mode gain of the traditional exponent reaching law. Based on the mathematical model of toroidal motor system, the sliding mode controller with exponent reaching law was designed. The power of the state variables was added in variable item of reaching law, and the saturation function was adopted for the motion of system state in the sliding layer. The novel sliding mode controller was designed, and the comparison and simulation analysis were completed. The results show that the controller with the novel reaching law can effectively shorten the time of stabilization, eliminate overshoot and improve the robustness of the system.

Key words: permanent magnet toroidal motor (PMTM), novel reaching law, sliding mode control, robustness