直接驱动XY平台全局快速Terminal滑模控制

针对永磁直线同步电机驱动XY平台系统的非线性、不确定性及轮廓误差模型复杂等问题,设计了基于等效误差法的全局快速Terminal滑模轮廓控制器.运用等效误差法建立容易计算的直接驱动XY平台非线性等效误差模型;采用全局快速Terminal滑模控制方法设计直接驱动XY平台轮廓控制器.该控制方法可以促使系统在有限时间内迅速收敛到平衡状态,同时能抑制负载扰动和参数不确定性对系统性能的影响.仿真结果表明,所设计的轮廓控制器使直接驱动XY平台具有了较高的轮廓加工精度和较强的鲁棒性.

Global fast Terminal sliding mode control for direct drive XY table

For such problems as the nonlinearity,uncertainty and complex contour error model in the XY table system driven by permanent magnet linear synchronous motor(PMLSM),a global fast Terminal sliding mode controller based on the equivalent error method was designed.The nonlinear equivalent error model of direct drive XY table,which is easily calculated,was built using the equivalent error method.The direct drive XY table contour controller was designed by global fast Terminal sliding mode control method.The control method can promote the rapid convergence of the system to the equilibrium point in finite time,and reduce the influence of both load disturbance and parameter uncertainty on the performance of the system.The simulation results show that the designed contour controller makes the direct drive XY table have higher contour machining precision and stronger robustness.