关键词: 永磁直线同步电机, 反推滑模, 非奇异终端滑模控制, 自适应控制, 非线性扰动观测器

Abstract: Aiming at the problem of reducing the position tracking accuracy of permanent magnet linear synchronous motor ( PMLSM) servo systems due to various uncertain factors such as internal parameter changes and load disturbances, an adaptive backstepping nonsingular terminal sliding mode control ( ABNTSMC) method based on nonlinear disturbance observer ( NDO) was proposed. A combination of backstepping control and nonsingular terminal sliding mode control was used to reduce the order of a complex nonlinear system. Nonsingular terminal sliding mode control was used to achieve rapid convergence of the states of each subsystem in a finite time. Adaptive algorithms were used to dynamically adjust the upper bound of the controller switching terms to weaken sliding mode chattering. Combined with the characteristics of NDO realtime identification of uncertain disturbances in the system, observations were feedforward compensated to a sliding mode position controller to reduce system tracking error and improve system anti-interference ability. A simulation comparison between the control method and sliding mode control ( SMC ) and ABNTSMC verifies the effectiveness of the control method.

Key words: permanent magnet linear synchronous motor( PMLSM), backstepping sliding mode, nonsingular terminal sliding mode control( NTSMC), adaptive control, nonlinear disturbance observer( NDO)