基于自适应扰动观测器的电磁直线驱动器改进滑模控制

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DOI：10.15938/j.emc.2025.05.007

中图分类号：TM351 文献标志码：A 文章编号：1007-449X（2025）05-0064-12

Improved sliding mode control for electromagnetic linear actuator based on adaptive disturbance observer

GAO Renjing1，2， WANG Geng1，2

（1.State KeyLaboratory of Structural Analysis，Optimization and CAE Software for Industrial Equipment，Dalian University of Technology，Dalian1160o0，China；2.Ningbo Instituteof Dalian Universityof Technology，Ningbo 315016，China）

Abstract：To address the problem of degraded control performance of electromagnetic linear actuator caused by the direct action of parameter perturbation and external disturbance，a composite control method combining adaptive disturbance observer and improved super-twisting global fast terminal sliding mode control was proposed. To improve the anti-interference ability of system and avoid the use of high-gain feedback，an adaptive sliding mode disturbance observer was designed to observe the uncertain factors with adaptive feedforward compensation. To ensure the finite-time convergence of the system，the equivalent control part was designed by constructing the improved global fast terminal sliding mode surface，and the improved fast super-twisting algorithm is introduced into the switching control law for the approach phase to further improve the convergence speed and reduce the jiter fect. The stability was analyzed based on Lyapunov theorem，and effectiveness of the control method was verified through simulation and experiment. The results show that the prosed method has the advantages of improving system robustness and avoiding the conservative parameter selection， which can realize adaptive observation compensation for nonlinear time-varying disturbances，ensure faster convergence of the error in finite time，and suppress the jitter.

Keywords ：electromagnetic linear actuator;adaptive sliding mode disturbance observer； global fast termi-nal sliding mode； fast super-twisting algorithm； motion control

0引言

电磁直线驱动器通过实现电能与往复直线运动机械能间的相互转换完成对外的输出与作动，相较于利用旋转变直线装置提供间接直线传动的系统而言，采用电磁直线驱动器的直线直驱系统具有传动效率高、控制灵活性强、动态响应快以及无轴向摩擦等优势[1]。（剩余17016字）