摘要
针对以永磁同步电机为动力驱动元件的机电伺服系统具有强耦合、非线性、多变量且工作时易受外部随机干扰的问题,提出基于双曲积分函数双幂次趋近律的自适应连续终端滑模控制方法。采用基于双曲积分函数的双幂次趋近律,确保机电伺服系统接近滑模面时的平滑性和远离滑模面时的快速收敛性,同时可以根据滑模变量收敛时间表达式获得较准确的收敛时间,显著提升收敛速度。通过自适应连续终端滑模控制方法设计控制器,有效抑制传统滑模控制中不连续函数引起的信号抖振,提升控制器的鲁棒性,使其更适用于实际机电伺服系统的应用需求。最后,为验证所提方法的有效性,将其与快速幂次趋近律滑模控制进行对比仿真分析。对伺服系统突加正弦信号,快速幂次趋近律滑模控制的最大跟踪误差为12.2μm,而所提控制方法的最大跟踪误差多数低于2.5μm。结果表明:基于双曲积分函数双幂次趋近律的自适应连续终端滑模控制方法的位移跟踪精度更高、鲁棒性更强,为机电伺服系统提供了工程应用参考。
The electromechanical servo system with permanent magnet synchronous motor has the problems of strong coupling,nonlinearity,multi-variable and susceptible to external random interference during work.In response to these problems,an adaptive continuous terminal sliding mode control method was proposed based on hyperbolic integral function double power reaching law.The double power reaching law based on hyperbolic integral function was adopted to ensure the smoothness of the electromechanical servo system when it was close to the sliding mode surface and the fast convergence when it was far away from the sliding mode surface.At the same time,the more accurate convergence time could be obtained according to the convergence time expression of the sliding mode variable,significantly improving the convergence speed.The adaptive continuous terminal sliding mode method was used to design the controller,which could effectively suppress the signal chattering caused by discontinuous function in the traditional sliding mode control,and the robustness of the controller was significantly improved,making it more suitable for practical position servo applications.Finally,in order to verify the effectiveness of the proposed method,a comparative simulation analysis with the fast power reaching law sliding mode control was conducted.When a sinusoidal signal is suddenly added to the servo system,the maximum position tracking error under the fast power reaching law sliding mode control is 12.2μm,while the maximum position tracking error under the proposed control method is mostly less than 2.5μm.The results show that the adaptive continuous terminal sliding mode control method based on hyperbolic integral function double power reaching law achieves higher displacement tracking accuracy and stronger robustness,providing an engineering application reference for electromechanical servo system.
作者
程亮
董子健
常成
张金营
CHENG Liang;DONG Zijian;CHANG Cheng;ZHANG Jinying(School of Mechanical and Electrical Engineering,Handan University,Handan Hebei 056005,China;School of Control and Computer Engineering,North China Electric Power University,Baoding Hebei 071003,China;China Energy Investment Corporation Limited,Beijing 100011,China)
出处
《机床与液压》
北大核心
2026年第5期150-155,共6页
Machine Tool & Hydraulics
基金
教育部产学合作协同育人项目(241010300000007)
河北省高等学校科学技术研究项目(ZC2025021)
河北省创新创业教育教学改革研究与实践项目(2023cxcy268)
2025年度河北省教育考试招生研究立项课题(HBJK2025044)
邯郸市科学技术研究与发展计划项目(25422021194ZC)。
关键词
机电伺服系统
永磁同步电机
双曲积分函数
双幂次趋近律
自适应连续终端滑模控制
electromechanical servo system
permanent magnet synchronous motor
hyperbolic integral function
double power reaching law
adaptive continuous terminal sliding mode control
