S20330-SRS 科尔摩根KOLLMORGEN 伺服控制器应用制造业

S20330-SRS 科尔摩根KOLLMORGEN 伺服控制器应用制造业

为了实现高性能伺服控制领域，S20330-SRS提出了一种适用于永磁直线同步电机的带死区参数修正的自适应反推互补滑模控制方法。

在反演控制和滑模控制的理论基础上，设计了一种强鲁棒控制器ABCSMC，用于补偿系统中出现的参数变化和外部扰动等不确定性。此外，自适应饱和函数的使用避免了参数选择的困难，使得自适应律可以实时调整最优参数。

此外，KOLLMORGEN 为了避免自适应律的参数漂移现象，提出了死区参数修正方法，通过设置性能阈值来解决过训练问题。最后，通过李亚普诺夫定理和巴尔巴拉特引理证明了系统的稳定性。为了检验所提出方案的性能，S20330-SRS实现了一个基于数字信号处理器的实验平台。比较结果表明，所提出的控制器能够获得更高的跟踪性能，并对参数变化和外部干扰的不确定性具有更强的鲁棒性。

In order to realize high performance servo control field, S20330-SRS proposes an adaptive backward thrust complementary sliding mode control method with dead zone parameter modification for permanent magnet linear synchronous motors.

Based on the theory of inverse control and sliding mode control, a robust controller ABCSMC is designed to compensate the uncertainties such as parameter changes and external disturbances in the system. In addition, the use of adaptive saturation function avoids the difficulty of parameter selection, so that the adaptive law can adjust the optimal parameters in real time.

In addition, in order to avoid the phenomenon of parameter drift of the adaptive law, KOLLMORGEN proposed a method of dead zone parameter correction to solve the over-training problem by setting a performance threshold. Finally, the stability of the system is proved by Lyapunov's theorem and Balbalat's lemma. In order to test the performance of the proposed scheme, S20330-SRS implements an experimental platform based on digital signal processor. The comparison results show that the proposed controller can achieve higher tracking performance and is more robust to the uncertainty of parameter change and external interference.