针对永磁直线同步电机(PMLSM)伺服系统的位置跟踪精度易受摩擦力、负载扰动等不确定性因素影响的问题，采用基于摩擦和扰动补偿的非奇异快速终端滑模控制（NFTSMC）方法来设计位置控制器。首先，建立含有Stribeck摩擦模型的PMLSM动态模型，使用自然选择粒子群算法对摩擦模型进行离线参数辨识；其次采用NFTSMC方法来确保系统状态快速收敛，避免奇异问题，利用辨识的摩擦模型进行补偿；最后采用滑模观测器对总不确定因素进行观测和补偿，削弱了抖振现象。仿真验证了所采用的控制策略提高了位置跟踪精度，同时具有快速收敛性和较强的抗扰性。

The position tracking accuracy of permanent magnet linear synchronous motor (PMLSM) servo system is susceptible to uncertain factors such as friction and load disturbance. In view of the problem, a nonsingular fast terminal sliding mode control (NFTSMC) method based on friction and disturbance compensation is used to design the position controller. Firstly, the PMLSM dynamic model with Stribeck friction model is established, and the natural selection particle swarm optimization (PSO) algorithm is used to identify the off\|line parameters of the friction model. Secondly, the NFTSMC method is used to ensure the rapid convergence of the system state and avoid singular problems, and the identified friction model is used for compensation. Finally, the sliding mode observer is used to observe and compensate the total uncertainty, which weakens the chattering phenomenon. Simulation results verify that the control strategy improves the position tracking accuracy, and has fast convergence and strong disturbance immunity.

国家自然科学基金项目(51875366)