基于扰动补偿的电磁悬浮系统自适应终端滑模控制策略OA

To improve the anti-disturbance capability of the electromagnetic levitation system,an adaptive nonsingular terminal sliding mode control based on disturbance upper bound compensation(ANTSMC-DUBC)was proposed.The strategy used nonsingular terminal sliding mode control based on disturbance upper bound compensation(NTSMC-DUBC)to speed up the convergence of the system state and avoid singularity.The disturbance compensation term in the reaching control law can suppress the lumped disturbance,so that a smaller switching gain can be selected to reduce chattering.A switching gain that can adaptively change with the state of the sliding mode function was designed to ensure the dynamic performance of the system while improving the steady state performance and the efficiency of disturbance compensation.The theoretical derivation proved that the designed levitation controller satisfied the Lyapunov stability criterion.The experimental results show that the proposed ANTSMC-DUBC controller exhibits good steady state and dynamic performance in signal tracking,anti-disturbance,and load variation tests,and demonstrates excellent anti-disturbance when facing internal and external disturbances in the system.Compared with that of NTSMC,the gap fluctuation of ANTSMC-DUBC is less than 0.21 mm under the equivalent external disturbance,and the system root mean square error and time-weighted absolute error are reduced by 56.26％and 57.57％,respectively.The maximum gap fluctuation is 0.22 mm with no steady state error when the 1.5 kg load variation is performed.