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Robust Tracking Control for Permanent Magnet Linear Synchronous Motors With Unknown Uncertainties via Sliding Mode Approach

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  • Control Theory and Applications
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Abstract

This paper proposes a novel robust super-twisting nonsingular fast terminal sliding mode control method for high precision position tracking of permanent magnet linear synchronous motor (PMLSM). Based on the position tracking error of PMLSM, a nonsingular fast terminal sliding mode variable is constructed to avoid the singularity and achieve the convergence of the position error in a finite time. To improve the convergence speed of the super-twisting algorithm and solve the gain overestimation problem of the existing algorithm, a dual-layer nested adaptive adjustment law based on the super-twisting scheme is proposed, which does not need the information of the unknown uncertainties. While ensuring that the conditions of the existence of the sliding mode hold, the control gain is made as small as possible to obtain a continuous switching control law to suppress the effect of the chattering phenomenon. The Lyapunov stability proves the robustness and convergence of the system. Experimental results confirm the effectiveness and feasibility of the designed position tracking control scheme.

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Abbreviations

TSMC:

Terminal sliding mode control

ATSMC:

Adaptive TSMC

FTSMC:

Fast TSMC

NTSMC:

Nonsingular TSMC

NFTSMC:

Nonsingular fast TSMC

ASTNFTSMC:

Adaptive super-twisting NFTSMC

M:

The mass of the mover

v :

The mover speed

B :

The viscous friction coefficient

F e :

The electromagnetic thrust

F :

The nonlinear disturbances

K f :

The electromagnetic thrust coefficient

D :

The lumped system uncertainty

i d, i q :

The dq-axis components of current

U d, U q :

The dq-axis components of voltage

L d, L q :

The dq-axis components of inductance

R :

The resistance of motor mover

ψ PM :

The secondary permanent magnet flux linkage

τ :

The polar distance

\(d,\,\,\dot d,\,\,\ddot d\) :

The mover position, velocity and acceleration

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Author information

Authors and Affiliations

  1. School of Electrical Engineering, Shenyang University of Technology, Shenyang, 110870, China

    Dongxue Fu & Ximei Zhao

  2. School of Electrical and Information Engineering, University of Sydney, Darlington, NSW, 2008, Australia

    Jianguo Zhu

Authors
  1. Dongxue Fu
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  2. Ximei Zhao
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Correspondence to Ximei Zhao.

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We declare that we have no conflicts of interest to this work, and the work is approved by all authors for publication. We have no financial and personal relationships with other people or organizations that can inappropriately influence our work.

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This work was supported in part by the Liaoning Provincial Natural Science Foundation of China under Grant 20170540677.

Dongxue Fu was born in Jiaozuo, Henan Provinces, China, in 1992. He received his B.S. degree in electrical engineering and automation from Beihua University, Jilin, China, in 2017. Now he is currently pursuing a Ph.D. degree in the School of Electrical Engineering, Shenyang University of Technology. His current research interests include motor control, precision motion control, intelligent control, and neural networks.

Ximei Zhao was born in Changchun, Jilin Provinces, China, in 1979. She received her B.S., M.S., and Ph.D. degrees in electrical engineering from Shenyang University of Technology, Shenyang, China, in 2003, 2006, and 2009, respectively. She is currently a professor and a doctoral supervisor with the School of Electrical Engineering in Shenyang University of Technology. Her research interests are electrical machines, motor drives, motor control, intelligent control, and robot control. She has authored or coauthored more than 100 technical papers, 3 textbooks and holds 15 patents in these areas.

Jianguo Zhu received his B.E. degree from Jiangsu Institute of Technology, China in 1982, an M.E. degree from Shanghai University of Technology, China in 1987, and a Ph.D. degree from the University of Technology Sydney (UTS), Australia in 1995, all in electrical engineering. He was appointed a lecturer at UTS in 1994 and promoted to full professor in 2004 and Distinguished Professor of Electrical Engineering in 2017. At UTS, he has held various leadership positions, including the Head of School for School of Electrical, Mechanical and Mechatronic Systems and Director for Centre of Electrical Machines and Power Electronics. In 2018, he joined the University of Sydney, Australia, as a full professor and the Head of School for School of Electrical and Information Engineering. His research interests include computational electromagnetics, measurement and modelling of magnetic properties of materials, electrical machines and drives, power electronics, renewable energy, microgrids, and digital energy systems.

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Fu, D., Zhao, X. & Zhu, J. Robust Tracking Control for Permanent Magnet Linear Synchronous Motors With Unknown Uncertainties via Sliding Mode Approach. Int. J. Control Autom. Syst. 22, 503–516 (2024). https://doi.org/10.1007/s12555-022-0438-4

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