In order to improve the position tracking control performance of permanent magnet synchronous linear motor under the influence of parameter perturbation, load disturbance and friction, an adaptive backstepping sliding mode controller based on immersion and invariance theory is proposed. Firstly, the dynamic model of linear servo motor motion system with uncertainty is established, and the backstepping method and the sliding mode control strategy based on the reaching law are designed and applied. Then immersion and invariance theory is introduced into the design of disturbance estimation error manifold. The selection of adaptive law realizes the invariance and attraction of the error manifold to ensure that the estimation error converges to zero. Finally, the simulation results show that this method improves the position tracking accuracy of the system and has a strong ability to suppress the influence of uncertainty such as parameter changes and load disturbances.


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    Titel :

    Backstepping Sliding Mode Control of Permanent Magnet Linear Synchronous Motor Based on Immersion and Invariance Theory


    Beteiligte:
    Fang, Xin (Autor:in) / Wang, Limei (Autor:in) / Zhang, Kang (Autor:in)


    Erscheinungsdatum :

    28.10.2022


    Format / Umfang :

    423395 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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