Multivariable second-order nonsingular terminal sliding mode current control method provided with reaching law

Abstract

The invention discloses a multivariable second-order terminal sliding mode current control method provided with a reaching law. The problem is solved that the system deviates from a sliding mode surface and it is hard to rapidly recover the system when a permanent magnet synchronous linear motor is subjected to parameter perturbation or external interference. The system is enabled to quickly move to the sliding mode surface from the initial state within limited time due to the addition of a disturbance control law, the influence of parameter perturbation and external interference on the system can be overcome, and the deviated system is enabled to quickly return to the sliding mode surface. A variable exponent part of the reaching law is relatively high in reaching speed when a system state track is far away from a balance point and during introduction of a variable terminal attraction reaching mode, the approach speed is relatively high when the state track approaches the balance point, so global rapid convergence is achieved, a system is enabled to rapidly reach the sliding mode surface from the initial state within limited time and finally move to a stable state balance point, and accurate current tracking is achieved.

Description

technical field [0001] The invention belongs to the technical field of permanent magnet synchronous linear motor control, and in particular relates to a multivariable second-order non-singular terminal sliding mode current control method introducing a reaching law. Background technique [0002] Many control systems in industrial production are in the form of linear motion. Traditional industrial control mostly realizes the linear transmission link through the transmission form of "rotary motor + ball screw". The existence of the intermediate transmission link will make the transmission characteristics of the system worse, which will greatly reduce the output efficiency of the motor, and the complexity of the control system structure will also bring difficulties to the stability of the system and the improvement of control accuracy. Compared with rotary motors, permanent magnet synchronous linear motors show more obvious advantages in the field of linear transmission. The int...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a multivariable second-order non-singular terminal sliding mode current control method that introduces a reaching law, which solves the problem that the single variable sliding mode deviates from the sliding mode surface when the parameters are perturbed or the load is disturbed. Improve the quality of the approach mode, increase the approach speed, and suppress the "chattering" of the system. The variable terminal attraction approach method with parameter δ in the approach law has a faster approach speed when the state trajectory is close to the equilibrium point, and can realize voltage control law u 2 global fast convergence

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