摘要
使用PMLSM(永磁同步直线电机)的龙门式运控平台虽然有响应速率快、励磁转矩大等优点,但由于龙门平台自身机械机构的特殊性,直线电机极易受外界扰动等影响,容易产生两轴运行不同步等问题。对此,首先对龙门式平台数学模型进行简化建模,降低问题求解的复杂度;针对建模不准确,外界扰动影响的问题,提出一种改进型的终端滑模反演控制方案,并加入新型扰动观测器对位置误差实现实时补偿。经过仿真证明,该控制方案能够有效削弱外界扰动对控制系统的影响,保证运控平台具有较高的位置跟踪精度和抗干扰能力。
Although the gantry operation control platform using PMLSM has the advantages of fast response rate and large excitation torque,the linear motor is easily affected by the external disturbance,and it is easy to cause the two ax-es running out of sync,due to the particularity of the gantry platform's own mechanism.To solve the problem,firstly,the mathematical model of gantry platform is simplified to reduce the complexity of problem solving.Secondly,an im-proved terminal sliding mode inverse control scheme is proposed,and a new disturbance observer is added to realize re-al-time compensation for position error,aiming at the problem of inaccurate modeling and the influence of external dis-turbance.Eventually The simulation proves that the control scheme can effectively reduce the influence of external dis-turbances on the control system and ensure that the operation control platform has high position tracking accuracy and an-ti-interference ability as well.
作者
黎炜天
廖俊鸿
王忠诚
LI Weitian;LIAO Junhong;WANG Zhongcheng(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou 510006,China)
出处
《仪表技术》
2020年第5期36-40,共5页
Instrumentation Technology
关键词
龙门式平台
终端滑模控制
扰动观测器
同步位置误差
gantry platform
terminal sliding mode control
disturbance observer
synchronization position error
