基于趋近律的互补积分终端滑模音圈电机控制

音圈电机（VCM）主要应用于小范围直线定位场景，需保证其拥有高精度及高鲁棒性，并且由于电机参数及摩擦力等影响，VCM是非线性且时变的。本文从VCM工作原理分析并建立对应二阶系统模型。控制策略上采用滑模控制和状态观测器的结合，针对滑模控制的抖振问题分别从滑模面和趋近律方向分别提出对应解决方案。滑模面采用互补积分终端滑模控制（CISMC），在减小抖振的基础上，采用齐次理论设计的积分终端滑模实现了有限时间的收敛性；趋近律采用幂次趋近律和非线性函数的结合，可以更快的到达滑模面；在滑模控制外采用状态观测器（ESO）对系统扰动等进行前馈补偿，提出了一种基于趋近律的互补积分终端滑模控制（CISMC）。根据推导的数学模型在MATLAB/simulink中建立系统仿真模型，通过仿真实验表明CISMC+ESO的方案，在跟踪正弦信号相较于互补滑模控制（CSMC）+ESO方案，稳定误差最大减少75%，完全跟踪时间最大减小28.5%；在跟踪斜坡信号时，稳态误差明显减少较大，完全跟踪时间最大减小84%。实验表明其在系统控制精度和鲁棒性方面都有明显提高。

Control of complementary integral terminal sliding mode VCM based on reaching law

The voice coil motor (VCM) is mainly used in small-range linear positioning scenarios. It is necessary to ensure that it has high precision and high robustness, and due to the influence of motor parameters and friction, the VCM is non-linear and time-varying. This article analyzes and establishes the corresponding second-order system model from the working principle of VCM. The control strategy adopts the combination of sliding mode control and state observer, and proposes corresponding solutions from the sliding mode surface and the approaching law direction to the chattering problem of sliding mode control. The sliding mode surface adopts complementary integral terminal sliding mode control (CISMC). On the basis of reducing chattering, the integral terminal sliding mode designed by homogeneous theory achieves finite time convergence; the reaching law adopts the power reaching law Combining with the fal nonlinear function, it can reach the sliding mode surface faster; outside the sliding mode control, the state observer (ESO) is used to perform feedforward compensation for system disturbances, etc., and a complementary integral terminal based on the reaching law is proposed. Sliding Mode Control (CISMC). According to the deduced mathematical model, the system simulation model is established in MATLAB/simulink. The simulation experiment shows that the CISMC+ESO scheme can reduce the stability error by up to 75% compared with the complementary sliding mode control (CSMC)+ESO scheme in tracking sinusoidal signals. The full tracking time is reduced by 28.5% at the maximum; when tracking the ramp signal, the steady-state error is significantly reduced, and the full tracking time is reduced by 84% at the maximum. Experiments show that it has a significant improvement in system control accuracy and robustness.