Backstepping Sliding Mode Control Of Permanent Magnet Linear Synchronous Motor

Permanent magnet linear synchronous motor servo system,whose main drive equipment is permanent magnet linear synchronous motor,has a wide range of applications in the CNC,robots,electronics industry,aviation industry and other fields.The advantages of permanent magnet linear synchronous motor is high acceleration,deceleration,and high positioning accuracy,and the disadvantage is vulnerable to disturbing factors,such as,friction,which can reduce the servo system performance,so that the performance can not meet the desired requirements.First of all,to points out the significance of this thesis,the important role in industrial manufacturing of permanent magnet linear synchronous motor was emphasized.And the control strategy of permanent magnet linear synchronous motor is summarized.In addition,the research status of backstepping sliding mode control strategy is overviewed,after that the composition and working principle of the linear servo system is presented.The mathematical model of permanent magnet linear synchronous motor which is simplified under the condition of magnetic field orientation is established based on the structure and working principle.The achieved of disturbance factor analysis for performance of permanent magnet linear synchronous motor servo system is laying foundations for the follow-up study.Secondly,the general design method of backstepping sliding mode controller is summarized based on backstepping and sliding mode control.The adaptive control is introduced in terms of taking into account the influence of system parameters,and the adaptive backstepping sliding mode controller is designed.And then the problem caused by the uncertainty of the upper bound of the system is solved.The sliding variables has been designed to ensure the robustness and response speed of system,and the chattering of the system is weakened.The simulation results show that the adaptive backstepping sliding mode control system response faster and has greater robust than simple backstepping sliding mode control,and the chattering of the system is suppressed.Finally,the concept of dynamic surface is introduced.Dynamic surface control method,which calculates the derivative of the virtual control using a first-order integral filter,was adopted to avoid the expansion of the number of items caused by achieving the derivation of the virtual control in backstepping method.The controller design is simplified,and the performance of control system is improved.The simulation results show that the dynamic surface backstepping sliding control method can ensured the robustness and tracking speed of permanent magnet linear synchronous motor control system when considering the influence of parameter variations,load disturbances,end effect and friction,and chattering phenomenon has been effectively suppressed.