基于超螺旋滑模观测器的永磁同步直线电机无模型控制

针对永磁同步直线电机(permanent magnet linear synchronous motor, PMLSM)在运行过程中因参数失配和外部扰动导致控制性能下降的问题，提出一种基于超螺旋滑模观测器的永磁同步直线电机无模型控制策略。根据PMLSM在dq旋转坐标系下参数摄动时的数学模型建立电机对应的新型超局部模型，以避免参数失配。基于该新型超局部模型，结合滑模控制设计了无模型滑模速度控制器，通过Lyapunov稳定性理论证明该控制器的稳定性。同时，为削弱传统扩展滑模观测器对新型超局部模型中未知量观测的抖振，提高控制精度，设计超螺旋滑模观测器(super-twisting sliding mode observer, STSMO)对未知量进行在线辨识并实现前馈补偿。最后，将传统滑模控制、基于传统扩展滑模观测器的无模型控制算法与所提方法进行仿真和硬件在环实验对比，结果表明所提方法改善了PMLSM控制系统的动态响应性能，具有较强的鲁棒性。

Model-free control of a permanent magnet linear synchronous motor based on a super-twisting sliding mode observer

There is a problem of control performance deterioration of a permanent magnet linear synchronous motor (PMLSM) when the parameters mismatch and external disturbances exist during operation. Thus a model-free control strategy for a permanent magnet linear synchronous motor based on a super-twisting sliding mode observer is proposed. From a mathematical model of PMLSM with parameter perturbation in the dq rotation coordinate system, a novel ultra-local model corresponding to the motor is established to avoid parameter mismatch. Based on this model and combined with sliding mode control, a model-free sliding mode speed controller is designed, and the stability of the controller is analyzed using Lyapunov stability theory. To weaken the chattering of the traditional extended sliding mode observer to the unknown part in the novel ultra-local model and improve the control accuracy, a super-twisting sliding mode observer (STSMO) is designed. This realizes online identification and feedforward compensation of the unknown part. Finally, simulation and hardware-in-the-loop experiment results comparing traditional sliding mode control, model-free control algorithm based on traditional extended sliding mode observer and the proposed method have verified that the proposed method can improve the dynamic response performance of a PMLSM control system and has strong robustness.