永磁直线同步电动机改进全局滑模变结构控制研究

针对滑模控制永磁直线同步电动机（PMLSM）不能实现有限时间控制以及全局滑模控制（GSMC）不能实现快速收敛的问题，提出了一种改进型GSMC算法来设计直线伺服速度控制器。该算法采用了由非线性项、线性项相结合的动态滑模面以及等速趋近律，非线性滑模面衰减函数由3个指数函数项组成一阶可导函数, 并能在有限时间内衰减为零。仿真结果表明，改进GSMC不仅使系统具有全局鲁棒性，且能在保证高跟踪精度的同时加快响应速度和抗干扰能力。

Research of Improved Global Sliding Mode Control of Permanent Magnet Linear Synchronous Motor

Aiming at the problems that the sliding mode control permanent magnet linear synchronous motor (PMLSM) cannot achieve finite time control and the global sliding mode control (GSMC) cannot achieve rapid convergence, an improved GSMC algorithm is used to design the linear servo speed controller. The algorithm uses a dynamic sliding mode surface combined with a nonlinear term and a linear term and a constant velocity approaching law. The nonlinear sliding mode surface decay function is composed of three exponential function terms to form a first-order derivable function, and it can decay to zero in a finite time. The simulation results show that the improved GSMC not only makes the system globally robust, but also accelerates the response speed and improve anti-interference ability while ensuring high tracking accuracy.