摘要
针对直线电机驱动H型平台中的直驱伺服系统易受负载扰动和机械耦合等因素影响的问题,提出一种H型平台直驱伺服系统离散积分滑模平滑位置控制方法。首先,研究建立以动子位置和速度为状态变量的含有机械耦合特性的直驱伺服系统离散数学模型;然后,设计离散积分滑模位置控制器,以减小外部扰动对系统影响,提高系统跟踪精度;同时,为削弱控制律中符号函数引起的抖振现象,设计一种平滑饱和函数代替传统符号函数,并通过仿真给出饱和函数曲线,定量分析证明平滑饱和函数的优越性。最后对该方法进行仿真与实验验证,并给出控制系统关键部件的实现方案,结果表明所提方法不仅提高了系统位置跟踪精度,削弱抖振程度,而且能够增强系统对负载扰动的鲁棒性。
The direct drive servo system of H-type platform is easily affected by load disturbance and mechanical coupling. In this paper, a discrete integral sliding mode smoothing position control method for H-type platform direct drive servo system is proposed. Firstly, the discrete-time mathematical model of the direct drive servo system with mechanical coupling characteristics was established, and the position and velocity of the mover were taken as state variables. Secondly, the discrete-time integral sliding mode position controller was designed to reduce the influence of external disturbance on the system and improve the tracking accuracy of the system. In order to weaken the chattering caused by the sign function in the control law, a smooth saturation function was designed to replace the traditional sign function, the saturation function curve was given by simulation, and the advantages of the smooth saturation function were proved by quantitative analysis. Finally, the method was simulated and experimentally verified, and the implementation scheme of key components of the control system was given. The results show that the proposed method not only improves the position tracking accuracy of the system, weakens the degree of chattering, but also enhances the robustness of the system to load disturbances.
作者
方馨
王丽梅
张康
FANG Xin;WANG Li-mei;ZHANG Kang(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《电机与控制学报》
EI
CSCD
北大核心
2022年第6期101-111,共11页
Electric Machines and Control
基金
国家自然科学基金(51875366)。
关键词
H型平台
直线电机驱动伺服系统
离散积分滑模控制
平滑饱和函数
抖振
机械耦合
H-type platform
linear motor drive servo system
discrete-time integral sliding mode control
smooth saturation function
chattering
mechanical coupling
