發(fā)布時(shí)間：2018-04-22 12:41

  本文選題：永磁直線同步電機(jī) + 終端滑�？刂�　； 參考：《沈陽工業(yè)大學(xué)》2015年碩士論文

【摘要】：以永磁直線同步電機(jī)直接驅(qū)動伺服系統(tǒng)為研究對象，針對系統(tǒng)運(yùn)行中容易受到自身參數(shù)變化、負(fù)載擾動、端部效應(yīng)、摩擦力擾動等不確定因素影響的特點(diǎn)，為提高系統(tǒng)的魯棒性、快速性等性能，以滑模控制理論為基礎(chǔ)，對永磁直線同步電機(jī)的終端二階滑�？刂七M(jìn)行了研究，具體工作如下： 首先，歸納總結(jié)了永磁直線同步電機(jī)伺服系統(tǒng)的構(gòu)成及其工作原理，并且分析了永磁直線同步電機(jī)的結(jié)構(gòu)、工作原理，在此基礎(chǔ)上建立了永磁直線同步電機(jī)的簡化數(shù)學(xué)模型，根據(jù)系統(tǒng)的特點(diǎn)分析了永磁直線同步電機(jī)伺服系統(tǒng)的不確定性影響因素。 其次，在介紹了高階滑模和終端滑模控制理論的基礎(chǔ)上，采用二階非奇異快速終端滑�？刂品椒�，設(shè)計(jì)非奇異快速終端滑模變量，從而使終端滑模奇異性的問題得到有效解決。同時(shí)該滑模變量的設(shè)計(jì)還使系統(tǒng)狀態(tài)在距離平衡點(diǎn)較近時(shí)的系統(tǒng)收斂速度得到了顯著的提高，從而提高系統(tǒng)全局收斂速度。控制律采用二階滑�？刂频某菪惴ǎ韵魅跸到y(tǒng)的抖振現(xiàn)象。仿真結(jié)果表明，，二階非奇異快速終端滑�？刂撇粌H提高了系統(tǒng)的響應(yīng)速度，使系統(tǒng)具有很好的魯棒性，而且削弱了系統(tǒng)抖振，使系統(tǒng)具有良好的定位精度。 最后，將直接自適應(yīng)控制算法與二階滑模控制的超螺旋控制算法相結(jié)合，實(shí)現(xiàn)了超螺旋算法控制增益的在線自適應(yīng)調(diào)整，克服了超螺旋算法控制增益的調(diào)節(jié)需要知道不確定邊界的局限性，提高了系統(tǒng)控制性能。設(shè)計(jì)非奇異終端滑模變量有效的解決了終端滑模的奇異性問題。仿真結(jié)果表明，自適應(yīng)二階非奇異終端滑�？刂破髟谟来胖本�同步電機(jī)伺服系統(tǒng)受到自身參數(shù)變化、負(fù)載擾動、摩擦力擾動等的情況下，提高了系統(tǒng)削弱抖振的能力，具有很好的定位能力和魯棒性。
[Abstract]:In order to improve the robustness and fast performance of the system, in order to improve the robustness and fast performance of the system, the permanent magnet linear synchronous motor drives the servo system as the research object, which is easily influenced by the uncertainties of its parameters, load disturbance, end effect, friction disturbance and so on. On the basis of sliding mode control theory, the permanent magnet linear synchronous motor (PMSM) is used. The terminal two order sliding mode control is studied.
First, the structure and working principle of permanent magnet linear synchronous motor servo system are summed up, and the structure and working principle of permanent magnet linear synchronous motor are analyzed. On this basis, the simplified mathematical model of permanent magnet linear synchronous motor is established, and the uncertainty of permanent magnet linear synchronous motor servo system is analyzed according to the characteristics of the system. Influencing factors.
Secondly, on the basis of the introduction of high order sliding mode and terminal sliding mode control theory, the two order non singular fast terminal sliding mode control method is used to design a non singular fast terminal sliding mode variable, so that the problem of terminal sliding mode singularity can be solved effectively. At the same time, the design of the sliding mode variable also makes the system state in the distance to the equilibrium point. The convergence speed of the system is greatly improved and the global convergence speed of the system is improved. The control law uses the super spiral algorithm of two order sliding mode control to weaken the chattering phenomenon of the system. The simulation results show that the two order non singular fast terminal sliding mode control not only improves the response speed of the system, but also makes the system very robust, and the system has good robustness. The chattering is weakened and the system has good positioning accuracy.
Finally, combining the direct adaptive control algorithm with the super spiral control algorithm of the two order sliding mode control, the on-line adaptive adjustment of the control gain of the super helix algorithm is realized, and the limitation of the control gain of the super helix algorithm is overcome. The control performance of the system is improved and the control performance of the system is improved. The non singular terminal sliding mode variable is designed. The singularity problem of the terminal sliding mode is effectively solved. The simulation results show that the adaptive two order non singular terminal sliding mode controller improves the ability of the system to weaken the chattering, and has good positioning ability and robustness in the case of the permanent magnet linear synchronous motor servo system under the condition of its own parameters change, load disturbance, friction disturbance and so on.

【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP273;TM341

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