基于推力观测器的直线式交流伺服系统滑模变结构控制

针对直线式直接驱动交流伺服系统，提出了一种新型滑模变结构控制方案。通过负载推力观测器的设计和扰动的前馈补偿，有效地削弱了变结构控制产生的抖振。在系统滑模设计中，采用积分补偿法进一步削弱系统的抖振。仿真和实验结果表明，该方案不但克服了直线式永磁同步机推力波动对系统性能的影响，而且对系统参数变化和负载扰动具有很强的鲁棒性。

Thrust Observer-Based Sliding Mode Variable Structure Control for Linear AC Servo System

A novel variable structure control ( VSC) method with sliding mode for a linear direct - drive AC servo system is presented . The chattering of the VSC system is effectively minimised by designing a load thrust observer and disturbance feed forward compensation. The chattering can be disminished furtherly by an integral action in the sliding mode . Simulations and experiments verify that the proposed control scheme not only solve the thrust ripple problem of linear permanent - magnet synchronous motor ( LPMSM ) , but also make the direct - drive system have strong robustness to parameter variations and external disturbances.