The design and implementation of adaptive sliding mode control with disturbance observer for chain driving system driven by permanent magnet synchronous motor with parameter variation, meshing impact and large friction are addressed in this study. First, an adaptive model compensation control law is designed for perfect position tracking, while a nonlinear disturbance observer is investigated to estimate the normalized disturbance, which is fast changing due to the severe polygon effect, the meshing impact and so on. To further improve the robustness and the control performance, the translation-width idea is embedded into the adaptive sliding mode control with disturbance observer system, which can suppress the chattering phenomenon caused by imperfect switching in traditional sliding mode control. Moreover, the translation width is online updated using an adaptive mechanism, which is delivered in the Lyapunov sense. Thus, the stability of the closed-loop system is guaranteed in the Lyapunov stability theorem sense. Experimental results show that the proposed adaptive sliding mode control with disturbance observer scheme is insensitive to parameter variation, meshing impact, large friction and so on, and has a better control performance compared with the traditional adaptive sliding mode control and the disturbance observer–based sliding mode control.

中文翻译：

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带扰动观测器的链传动系统自适应滑模控制

研究了具有参数变化、啮合冲击和大摩擦的永磁同步电机驱动链传动系统的带扰动观测器的自适应滑模控制的设计和实现。首先，设计自适应模型补偿控制律以实现完美的位置跟踪，同时研究非线性扰动观测器来估计归一化扰动，由于严重的多边形效应、啮合影响等原因，该扰动变化很快。为了进一步提高鲁棒性和控制性能，将平移宽度思想嵌入到带扰动观测系统的自适应滑模控制中，可以抑制传统滑模控制中由于切换不完全而引起的颤振现象。而且，翻译宽度是使用自适应机制在线更新的，这是在李雅普诺夫意义上提供的。因此，在李雅普诺夫稳定性定理的意义上，闭环系统的稳定性得到保证。实验结果表明，所提出的带有扰动观测器方案的自适应滑模控制对参数变化、啮合冲击、大摩擦等不敏感，与传统的自适应滑模控制和基于扰动观测器的滑模控制相比具有更好的控制性能。模式控制。