This article focuses on the position control problem for permanent magnet dc torque motor systems. An adaptive position tracking controller is proposed with online parameter adaptation. The position of the permanent magnet dc torque motor under the proposed strategy tracks the reference signal with fixed-time convergence. Different from previous fixed-time control methods, the approach proposed in this article can be implemented under two different modes with continuous transition, which facilitates the controller design in reducing the initial shock of the control signal. An adaptive law with smooth function is presented to counteract the disturbance and attenuate the chattering. Both numerical simulation and real-time experiment are given to verify the effectiveness of the proposed strategy.

中文翻译：

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永磁直流转矩电动机系统的实用固定时间位置跟踪控制

本文重点介绍永磁直流转矩电机系统的位置控制问题。提出了一种具有在线参数自适应的自适应位置跟踪控制器。在所提出的策略下，永磁直流转矩电动机的位置以固定时间收敛来跟踪参考信号。与以前的固定时间控制方法不同，本文提出的方法可以在具有连续过渡的两种不同模式下实施，这有利于控制器设计减少控制信号的初始冲击。提出了一种具有平滑函数的自适应律，以抵消干扰并减弱颤动。数值仿真和实时实验都证明了所提策略的有效性。