Integral Sliding Mode Based Precision Motion Control for PMLM

In ultra-precision fabrication, permanent magnet linear motor (PMLM) is generally applied thanks to its excellent performance. Thus, it is expected to meet high accuracy and high speed simultaneously. However, it is difficult to reach the goal using the tradition control strategies. In this paper, a novel method is proposed to improve response speed and tracking accuracy, which employs an integral sliding mode controller that switches between PD control and PID control according to the value of tracking errors. Based on the modeling of PMLM, an integral sliding mode controller is constructed, taking the advantages of both PD and PID control. Thus, the closed-loop system could respond rapidly and ideally reduce state error. To optimize the performance of the proposed control strategy, its parameters are adjusted using particle swarm optimization (PSO) algorithm. The validity of the method is verified by simulation under different inputs and constant disturbance in a 1DOF precision stage.

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