Backstepping Sliding Mode Control for the Displacement Tracking of Permanent Magnet Linear Synchronous Motor Based on Nonlinear Disturbance Observer
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For the problem that the displacement tracking control accuracy of permanent magnet linear synchronous motor (PMLSM) is prone to be affected by the uncertain factors such as parameter perturbation, and load disturbance, a backstepping sliding mode control method is proposed based on the nonlinear disturbance observer in this paper. Firstly, the nonlinear disturbance observer is developed to observe the uncertainty dynamically, so as to improve the displacement tracking accuracy of the system. Secondly, the displacement tracking controllers of PMLSM are presented by combining the backstepping sliding mode control with the command filter, which enhance the anti-jamming capability of the system, and solve the “explosion of complexity” problem during using the conventional backstepping control. Theoretical analysis shows that all the signals of the resulting closed-loop system are uniformly ultimately bounded. Finally, the proposed control method in this paper is compared with the backstepping control method, and the simulation results verify the effectiveness of the proposed control method.
KeywordsPermanent magnet linear synchronous motor Nonlinear disturbance observer Backstepping sliding mode control Command filter
This work is supported by the National Natural Science Foundation of China under Grant 61803327, the Science and Technology Research Project in Colleges and Universities of Hebei Province under Grant Z2017041, the Key Research and Development Project of Hebei Province under Grant 18212109, the Research Foundation of Hebei University of Environmental Engineering under Grant BJ201604, and the Basic Research Specific Subject of Yanshan University under Grant 16LGA005.
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