Less conservative sliding mode control of permanent magnet spherical motor
LI Hong-feng
LIU Wen-jun
Abstract：The high gains output is often adopted in the existing permanent magnet spherical motor(PMSM)trajectory tracking control method to ensure the robustness of the system and the fastness of tracking control. However,this con-servative control will bring greater control,and even lead to actuator saturation. In order to reduce the conservativeness of control,this paper designs a fuzzy sliding mode controller with nonlinear disturbance observer to solve the trajectory tracking problem of PMSM.The nonlinear observer is used to estimate the uncertainty,friction,external disturbance and load disturbance,and compensate it at the control input so as to achieve the suppression of interference.The sliding mode controller is used to cancel the interference observation error of the disturbance observer and unobservable part distur-bance. In order to reduce the undesirable chattering phenomenon,the fuzzy logic is used to approximate this part. And the sliding mode switching gain is replaced by the fuzzy output gain. In addition,the stability of the controller is proved by the Lyapunov equation.The simulation results show that the proposed algorithm can realize PMSM trajectory tracking control in the presence of model uncertainty and various disturbances,and has good dynamic and static performance and less conservativeness.
Keywords：nonlinear disturbance observerpermanent magnet spherical motorfuzzy sliding controltrajectory tracking
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 137-145 )