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基于模糊变增益的直线磁力驱动系统超螺旋滑模控制

孙凤 代雪飞 赵川 王鑫 裴文哲 金俊杰 徐方超 周冉

孙凤, 代雪飞, 赵川, 王鑫, 裴文哲, 金俊杰, 徐方超, 周冉. 基于模糊变增益的直线磁力驱动系统超螺旋滑模控制[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20240621
引用本文: 孙凤, 代雪飞, 赵川, 王鑫, 裴文哲, 金俊杰, 徐方超, 周冉. 基于模糊变增益的直线磁力驱动系统超螺旋滑模控制[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20240621
SUN Feng, DAI Xuefei, ZHAO Chuan, WANG Xin, PEI Wenzhe, JIN Junjie, XU Fangchao, ZHOU Ran. Super-Twisting Sliding Mode Control of Linear Magnetic Drive System Based on Fuzzy Variable Gain[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20240621
Citation: SUN Feng, DAI Xuefei, ZHAO Chuan, WANG Xin, PEI Wenzhe, JIN Junjie, XU Fangchao, ZHOU Ran. Super-Twisting Sliding Mode Control of Linear Magnetic Drive System Based on Fuzzy Variable Gain[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20240621

基于模糊变增益的直线磁力驱动系统超螺旋滑模控制

doi: 10.3969/j.issn.0258-2724.20240621
基金项目: 国家自然科学基金项目(52405284,52375258);辽宁省自然科学基金项目(2023-BS-127);辽宁省教育厅项目(LJ222410142008,LJKMZ20220506, LJKMZ20220460, JYTMS20231191);辽宁省“揭榜挂帅”科技重点专项(2022JH1/10800081,2022JH1/10400027)
详细信息
    作者简介:

    孙凤(1978—),男,教授,博士,研究方向为机械系统多元驱动及其控制技术,E-mail:sunfeng@sut.edu.cn

    通讯作者:

    赵川(1993—),男,讲师,博士,研究方向为机电一体化技术、磁悬浮装备设计及其控制方法、混合悬浮及零功率悬浮控制技术,E-mail:zhaochuan@sut.edu.cn

  • 中图分类号: TH39

Super-Twisting Sliding Mode Control of Linear Magnetic Drive System Based on Fuzzy Variable Gain

  • 摘要:

    针对直线磁力驱动系统的位置跟踪精度易受外部扰动等不确定因素影响以及滑模控制中的抖振问题,提出一种基于模糊变增益的超螺旋滑模控制策略. 首先,介绍直线磁力驱动系统的工作原理,建立含扰动的直线磁力驱动系统数学模型;其次,使用超螺旋滑模算法设计速度控制器,实现系统精确、快速的收敛,并通过Lyapunov函数证明系统稳定性,进一步地,使用模糊算法对超螺旋滑模增益进行自适应调节;最后,对所提复合控制方法进行实验验证. 结果表明:基于模糊变增益的超螺旋滑模控制位置跟踪精度高,响应速度快;相对于超螺旋滑模控制,阶跃位置跟踪响应时间缩短28%,稳态误差从3 μm减小到1 μm,并且没有抖振现象;正弦位置跟踪相位差减小13%,位置跟踪精度提升14%;方波位置跟踪有更好的动态性能;施加扰动后,系统到达稳态时间减小13%,受到负载之后的延迟时间减小80%,抗扰性能大幅提升.

     

  • 图 1  直线磁力驱动系统结构

    Figure 1.  Structure of linear magnetic drive system

    图 2  动子初级结构

    Figure 2.  Preliminary structure of mover

    图 3  Halbach阵列排布结构

    Figure 3.  Halbach array layout structure

    图 4  不同k1值下位移、速度变化曲线

    Figure 4.  Displacement and velocity variation curves for different values of k1

    图 5  模糊输入输出的隶属度函数

    Figure 5.  Membership functions of fuzzy input and output

    图 6  模糊控制器结构框图

    Figure 6.  Fuzzy controller structure

    图 7  直线磁力驱动系统控制系统结构

    Figure 7.  Structure of control system of linear magnetic drive system

    图 8  直线磁力驱动系统的实验系统

    Figure 8.  Experimental system for linear magnetic drive system

    图 9  100 mm阶跃跟踪曲线

    Figure 9.  100 mm step tracking curves

    图 10  正弦轨迹跟踪实验结果

    Figure 10.  Experimental results of sinusoidal trajectory tracking

    图 11  方波轨迹跟踪曲线

    Figure 11.  Square wave trajectory tracking curves

    图 12  负载扰动下阶跃轨迹跟踪控制系统位移曲线

    Figure 12.  Displacement curves of step trajectory tracking control system under load perturbation

    表  1  模糊规则

    Table  1.   Fuzzy rules

    s$\dot s$
    NBNMZEPMPB
    NBPBPMZENMNB
    NMPMPMZENMNM
    ZEZEZEZEZEZE
    PMNMNMZEPMPM
    PBNBNMZEPMPB
    下载: 导出CSV

    表  2  直线磁力驱动系统参数表

    Table  2.   Parameters of linear magnetic drive system

    参数 M/kg Pn τ/mm ψf/Wb R Lq/mH Ld/mH
    取值 2.99 5 12 5.5 3.8 0.85 0.85
    下载: 导出CSV

    表  3  控制器参数表

    Table  3.   Controller parameters

    控制方法 参数
    FST-SMA 位置环 Kp=11;速度环 k1=2, k2=10,
    Ep=1.2,Ed=0.8,Ei=0.5
    ST-SMA 位置环 Kp=11;速度环 k1=2, k2=10
    PI 位置环 Kp=11;速度环 kp=5, ki=2
    下载: 导出CSV

    表  4  正弦轨迹跟踪控制器参数表

    Table  4.   Parameters of sinusoidal trajectory tracking controller

    控制方法 参数
    FST-SMA 位置环 Kp=80;速度环 k1=4, k2=20,
    Ep=1.2,Ed=0.8,Ei=0.5
    ST-SMA 位置环 Kp=80;速度环 k1=4, k2=20
    PI 位置环 Kp=80;速度环 kp=10, ki=6
    下载: 导出CSV
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出版历程
  • 收稿日期:  2024-11-26
  • 录用日期:  2025-04-24
  • 修回日期:  2025-04-02
  • 网络出版日期:  2025-05-12

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