Adaptive Neural Network Nonsingular Fast Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor

Abstract

For the problem that the position tracking accuracy of permanent magnet linear synchronous motor (PMLSM) servo system is easily affected by uncertain factors such as parameters change, load disturbance and friction and so on, an adaptive neural network nonsingular fast terminal sliding mode control (ANNNFTSMC) method is proposed. Firstly, the PMLSM dynamic mathematical model with uncertainty is established. Then, the nonsingular fast terminal sliding mode control (NFTSMC) can avoid the singularity problem and make the state of the system converge to the equilibrium point quickly, so as to improve the response speed of the system. Secondly, in order to minimize the influence of disturbance and dynamic uncertainty, the dynamic model of PMLSM servo system is estimated by RBF neural network, and the uncertain upper bound of PMLSM servo system is estimated in real time combined with adaptive control, which weakens the chattering phenomenon and enhances the robustness of the system. It is proved theoretically that the control scheme can make the system achieve fast convergence and good tracking. Finally, the system experiments show that the proposed control scheme has the advantages of high tracking accuracy, good robustness, fast response speed and small position error.