摘要
针对减小电动负载模拟器多余力矩以及适应电机参数时变特性,设计了基于改进模糊趋近律的自适应滑模控制器。首先,根据系统输出与输出的偏差量设计了滑模面;其次,采用模糊策略,动态调整系统的趋近速度,当系统远离滑模面时,加快趋近速度,改善动态品质;当系统接近滑模面时,降低趋近速度,消除抖振,同时提出采用变隶属度函数的方法,改进了传统的模糊趋近律,提高系统在滑模面附近的控制灵敏度;最后,针对多余力矩和系统不确定部分,采用自适应的方法,逼近其上界,实现完全补偿。通过定义Lyapunov函数证明了该控制方法能够保证系统的全局稳定性。仿真实验表明,该控制方法有效地抑制了抖振和多余力矩,增强了系统的鲁棒性,提高了系统的自适应能力。
For the problem of parameters changing and surplus torque,adaptive sliding model controller was designed based on variable membership fuzzy reaching law. Firstly,sliding model surface was built by errors between inputs and outputs; secondly,fuzzy strategy was proposed to adjust reaching speed dynamically. When the distance was large,increased reaching speed to improve dynamic performance. When the system was close to surface,decreasing speed to eliminate chattering. In order to improve fuzzy control sensitivities nearby the surface,variable membership function method was introduced. Finally,for surplus torque and uncertainties,adaptive method was used to approach to its boundaries,realizing completely compensation. Lyapunov function was defined to prove that the controller designed by this paper would ensure global stability of system. The results of simulation show that,the controlling strategy can decrease chattering and surplus torque effectively and strengthen robustness of system. It also can improve adaptive ability.
出处
《微特电机》
北大核心
2015年第7期96-100,107,共6页
Small & Special Electrical Machines
关键词
电动负载模拟器
变隶属度函数
模糊趋近律
滑模自适应控制
多余力矩
electric load simulation
variable membership
fuzzy reaching law
sliding model adaptive control
surplus torque
