永磁直线电机伺服系统模型参考离散滑模控制

针对高精度永磁直线同步电机(PMLSM)伺服系统存在的参数变化、端部效应和负载扰动等诸多不确定性问题，设计了模型参考离散滑模(MRDSMC)位置跟踪控制器.将伺服问题转化为调节问题，并采用一步延迟扰动近似来补偿未知扰动，此外，为了抑制由高频未建模动态引起的抖振，在MRDSMC设计中加入低通滤波器.理论推导与仿真结果表明，该方案能有效地抑制PMLSM伺服系统的参数变化和阻力扰动的影响，具有很强的鲁棒位置跟踪性能.

Model reference discrete-time sliding mode control for linear motor servo system

A model reference discrete-time sliding mode control was presented for high precision permanent magnet linear synchronous motor servo systems with such uncertainties as parameter variation,end-effect and load disturbance.The servo problems were converted to simple regulation problems.One-step delayed disturbance approximation was employed to compensate the unknown disturbance.Moreover,in order to restrain the chattering introduced by high frequency unmodeled dynamics,a low pass filter was added to the MRDSMC system.Theoretical analysis and simulation results demonstrate that the proposed scheme can well suppress the influence of parameter variation and load disturbances,and make the system have good robust position-tracking performances.