基于互补滑模的起重机械电机位置伺服控制

以提升起重机械电机位置控制响应精度为目标,提出基于互补滑模的起重机械电机位置伺服控制方法。通过构建起重机械电机数学模型,分析位置伺服控制器状态和机械运动状况,以固定结构控制位置响应的加、减速过程,以互补滑模变结构控制位置响应匀速过程,确定起重机械电机的速度曲线,利用阶梯型曲线逼近指数型曲线,实现起重机械电机速度控制,并设计三阶线性扩张状态观测器( ESO )预估位置伺服控制器的各状态量,消除伺服控制的噪声及抖振,提升起重机械电机的位置互补滑模伺服控制效果。实验结果表明,低速空载、负载下电流曲线光滑、无频率波动,该方法在不同给定脉冲下均可实现位置伺服控制的快速响应,定位准确度高且无超调,位置伺服控制效果突出。

Position Servo Control of Hoisting Machinery Motor Based on Complementary Sliding Mode

Aiming to improve the accuracy of the position control response of hoisting machinery motors , a position servo control method of hoisting machinery motors based on complementary sliding mode is proposed.The mathematical model of the hoisting machinery motor is constructed to analyze the position servo controller status and the mechanical motion status and the fixed structure is established to control the acceleration and deceleration process of the position response.Then , the complementary sliding mode variable structure is used to control the uniform speed process of the position response , the hoisting machinery motor ’ s Speed curve can be determined.By using a stepped curve to approach the exponential curve , the speed control of the hoisting machinery motor is realized.And , the third-order linear extended state observer ( ESO ) is designed to estimate the state of the position servo controller , eliminating the noise and jitter of the servo control Vibration to improves the position complementary sliding mode servo control effect of the hoisting machinery motor.The experimental results show that the current curve is smooth at low speed and no load , and there is no frequency fluctuation.This method can achieve rapid response of position servo control under different given pulses , with high positioning accuracy and no overshoot , and the effect of position servo control is excellent.