摘要
为研究电力机车轮对受行车线路载荷冲击影响时的位置控制精度,考虑实际工况中齿隙传动的非线性以及外界干扰,建立了齿隙传动伺服系统的数学模型;针对具有齿隙输入和未知时变参数的非线性系统,结合齿轮传动方向间歇切换的实际工况,引入Nussbaum类型函数;基于滑模控制器收敛快速、鲁棒性强的优点,设计了自适应积分滑模控制器。理论分析和仿真结果表明,齿隙伺服系统闭环输出有界,滑模面抖振较小且收敛迅速,滑模面与跟踪误差一致有界并收敛于0。具有齿隙输入的伺服系统可实现在线路上存在载荷冲击及参数存在摄动的工况下对位置指令输入的近似无偏跟踪。
For the study of position control precision of locomotive wheel sets impacted by track irregularity and interference,a mathematical model of backlash drive servo system was established after considering the driving nonlinearity and external disturbance. Nussbaum-type function was brought in to deal with intermittent switching of gear driving direction pertaining to the nonlinear system boasting of backlash input and unknown time varying parameters. Adaptive integral sliding mode controller was designed in the light of its fast convergence and strong robustness. Theoretical analyses and simulation results demonstrate that the backlash servo system has closed loop bounded output with the integral sliding mode surface abating its buffeting with fast constringency and tracking error uniformly bounded and converged to 0. The backlash servo system,which boasts of approximately unbiased tracking to input position command under circumstances of fluctuation and parameter perturbation,has ideal output response with different control direction.
作者
薛振洲
XUE Zhenzhou(Department of Railway Power Traction,Xi＇an Railway Vocational and Technical Institute,Xi＇an 710014,China)
出处
《工业仪表与自动化装置》
2018年第2期130-132,共3页
Industrial Instrumentation & Automation
基金
国家自然科学基金资助项目(61203113)
关键词
轮对齿隙
传动方向间歇切换
Nussbaum类型函数
自适应积分滑模控制
wheel set backlash
intermittent switching of driving direction
Nussbaum - type function
adaptive integral sliding mode control
