基于ELM的预定义时间滑动模式自适应控制器的设计和分析,用于在物理约束下进行PMLM位置控制
Saleem Riaz1, Bingqiang Li2, Rong Qi1
1School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China.
Scientific reports
|March 5, 2024
概括
一个新的控制器确保了永磁线性电机的精确位置跟踪,即使有干扰. 这种预定义的时间趋同的滑动模式自适应控制器提供了强大而准确的性能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 电气工程 电气工程
- 应用数学 应用数学 应用数学
背景情况:
- 在机器人和工业伺服系统中,由于控制和,参数变化和外部干扰,难以准确地跟踪位置.
- 现有的控制方法往往难以保证在这样具有挑战性的条件下快速而精确的错误收.
研究的目的:
- 为永磁线性电机 (PMLMs) 开发一种新型的自适应控制器,以实现轨迹跟踪错误的预定义时间收.
- 提高PMLM控制系统在和,参数扰动和外部干扰下运行的稳定性和精度.
主要方法:
- 设计了一个具有预定义时间收 (PDTC) 的滑动模式表面 (SMS),以确保快速的错误收.
- 一个更新的极端学习机器 (ELM) 具有过度触角函数近似被用于处理系统不确定性和和约束.
- 使用 PDTC 的 Lyapunov 稳定性标准来证明闭环系统的预定义时间稳定性.
主要成果:
- 拟议的预定义时间收的滑动模式自适应控制器 (PTCSMAC) 确保轨迹跟踪错误在用户定义的时间内收到零.
- 控制器确保了均的电机转速,其收时间独立于初始条件和控制参数.
- 数字模拟验证了控制器的强大的稳定性和高精度跟踪能力,以应对复杂的干扰.
结论:
- 与传统方法相比,PTCSMAC有效地解决了PMLM位置跟踪方面的挑战,提供了优越的性能.
- 控制器能够实现预定义的时间趋同和稳定性,使其适用于苛刻的工业应用.
- 这项研究为提高伺服系统的准确性和可靠性提供了一个新的控制策略.
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