Research On Position Control Of Voice Coil Motor Based On Improved Complementary Sliding Mode

With the increasing proportion of precision manufacturing in industrial manufacturing,it represents the scientific and technological strength of the country’s high-end manufacturing industry to a certain extent.From large CNC machine tools to small lithography equipment such as micro-moving tables,precision manufacturing plays an irreplaceable role.Voice coil motors have unique advantages such as high frequency response,simple structure,small footprint and easy control,and are widely used in the field of precision manufacturing.There are uncertain factors such as parameter changes,nonlinear friction,eddy current damping force and hysteresis characteristics in its work.This paper proposes a voice coil motor position control scheme based on improved complementary sliding mode to improve the robustness and steady state of the control system.accuracy for the purpose.First of all,the basic structure and working principle of the voice coil motor are briefly introduced,and the classification methods and their respective characteristics are briefly explained.The uncertainty factors in the working process are analyzed concretely,and a secondorder mathematical model of the voice coil motor including uncertain nonlinear factors is established.The position tracking system based on complementary sliding mode is designed to track the desired signal.This paper first uses Lyapunov theorem to prove the convergence of the control system from a theoretical point of view,and then uses Simulink simulation to further obtain the tracking effect of the system,thereby proving the effectiveness of the proposed control system.Then,in order to further solve the problem of system uncertainty,this paper introduces the homogeneity theorem on the basis of complementary sliding mode,constructs the complementary integral terminal sliding mode surface,and continues to introduce the extended state observer and the fast reaching law.The main function of the extended state observer is to estimate the total disturbance of the nonlinear uncertain system of the voice coil motor;the fast reaching law can make the system reach and maintain the sliding mode surface faster.In this paper,the Lyapunov theorem is used to prove the convergence of the system error,and the simulation results show the effectiveness of the proposed control algorithm.Finally,in order to further improve the robustness and steady-state accuracy of the system,a recursive design idea is introduced on the basis of complementary sliding mode control,and a recursive complementary integral terminal sliding mode control is constructed,which can further improve the robustness of the system.On this basis,an extended state observer designed by the finite time theorem is introduced,and the supercoil reaching law can ensure that the system reaches and stays on the sliding surface faster.In this paper,the Lyapunov theorem is used to prove the convergence of the system error,and the effectiveness of the proposed control algorithm is proved by simulation.