摘要
针对部分状态不可测且带有摩擦和外部干扰的机电伺服系统,结合扩张状态观测器和自适应滑模技术,提出一种基于非线性扩张状态观测器的位置伺服控制策略。扩张状态观测器用于准确估计和补偿系统摩擦和外部干扰的影响,同时取消了系统所有状态完全可测的限制。观测器参数通过极点配置法确定,从而简化观测器的参数整定过程。在此基础上,设计自适应滑模控制器,保证系统位置状态快速稳定地跟踪期望信号。仿真结果表明,该控制器能够改善传统滑模控制容易产生的抖振问题,并提高系统的鲁棒性。
Combining the idea of nonlinear extended state observer （ESO） and adaptive sliding-mode technique, a position servo control scheme based on ESO is proposed for an electromechanical servo system with some immeasurable states, friction and external disturbances. In the proposed method, the friction and external disturbances are accurately estimated and compensated by using ESO, and the restriction that all states should be completely measured is canceled. The pole placement technique is employed to determine and facilitate the ESO parameter tuning. Then, an adaptive sliding-mode controller is designed to guarantee that the position can track the desired signal rapidly and steadily. Simulation results show that the proposed method can improve the anti-chattering performance of the traditional sliding-mode control and enhance the robustness of the system.
出处
《控制工程》
CSCD
北大核心
2017年第11期2350-2355,共6页
Control Engineering of China
基金
国家自然科学基金(61403343)
浙江省自然科学基金(LY17F030018
LQ18E070005)
关键词
伺服系统
扩张状态观测器
自适应滑模
极点配置
Servo system
extended state observer
adaptive sliding-mode control
pole placement
