关键词: 永磁直线同步电动机, 全局滑模控制, 新型趋近律, 抖振

Abstract: In order to reduce the influence of model parameter variation, load disturbance, nonlinear friction and end effect on the direct drive servo system of permanent magnet linear synchronous motor (PMLSM), a global sliding mode control (GSMC) method based on a new reaching law was proposed. The nonlinear dynamic sliding surface function was designed to eliminate the arrival phase of the sliding mode control and ensure that the system state moved on the sliding mode surface from the initial time, so as to improve the defect that the traditional sliding mode control does not have robustness in the arrival phase and realize the global sliding mode control. A new reaching law with dynamic boundary layer saturation functionwas designed, which made the state of the system converge to the switching surface smoothly and weakened the output chattering. The problem that the state trajectory of the traditional saturation function cannot converge to the switching surface asymptotically due to the fixed boundary layer thickness was solved. The experimental results show that the proposed scheme has better robustness and tracking performance compared with the traditional sliding mode control.

Key words: permanent magnet linear synchronous motor(PMLSM), global sliding mode control(GSMC), new saturated function, chattering