Adaptive fuzzy sliding mode control for magnetic suspension system of linear synchronous motor
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(School of Electrical Engineering,Shenyang University of Technology,Shenyang110870,China)
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摘要:
提出一种自适应模糊滑模控制方法用以提高可控励磁直线同步电动机(controllable excitation linear synchronous motor,CELSM)磁悬浮控制系统的性能.根据CELSM的特定结构和运行机理,建立CELSM磁悬浮系统的数学模型,包括励磁回路的电压方程、磁悬浮力方程和运动方程;设计积分滑模面和分段趋近律,系统状态轨迹可以根据距滑模面的距离自动切换趋近速度,以很小的斜率穿越滑模面,减小系统的抖振,推导出相应的滑模控制器;为了克服不确定性扰动对系统的影响,设计自适应律使自适应模糊系统对不确定性扰动进行实时估计,用该估计值进行前馈补偿控制,减小控制律中的切换增益和系统的抖振,进一步推导出自适应模糊滑模控制器;用Matlab对控制系统进行仿真,仿真结果表明,采用自适应模糊滑模控制的CELSM磁悬浮系统的性能得到改善.
Abstract:
This paper proposes a kind of adaptive fuzzy sliding mode control method to improve the performance of the magnetic suspension control system of a controllable excitation linear synchronous motor(CELSM). According to the specific structure and operation mechanism of a CELSM, the mathematical model of a CELSM magnetic suspension system is established, including the voltage equation of the excitation circuit, the magnetic suspension force equation and the motion equation. The integral sliding mode surface and the piecewise approach law are designed. The system state trajectory can automatically switch the approach speed according to the distance from the sliding mode surface, cross the sliding mode surface with a small slope to reduce the chattering of the system, and the corresponding sliding mode controller is deduced. In order to overcome the influence of uncertainty disturbance on the system, an adaptive law is designed to make the adaptive fuzzy system estimate the uncertainty disturbance in real time, and the feedforward compensation control is carried out with the estimated value to reduce the switching gain in the control law and the chattering of the system, and the adaptive fuzzy sliding mode controller is further derived. Matlab is used to simulate the control system, and the simulation results show that the performance of the CELSM magnetic suspension system with adaptive fuzzy sliding mode control is improved.