摘要
针对阀控缸系统稳态跟踪误差的收敛时间均为非有限时间内收敛到0的问题,提出了一种终端滑模控制方法。解决了液压系统非有限时间收敛问题,使得跟踪误差在有限时间内收敛到0。首先,运用终端滑模控制方法通过构造终端函数方式引入非线性项,设计终端滑模面来保证系统的全局鲁棒性和稳定性;其次,基于Lyapunov稳定性理论设计终端滑模控制器,保证位置跟踪误差在有限时间内收敛到0并验证其稳定性;最后,利用阀控缸系统模型以正弦信号及其衍生信号为参考信号对控制策略进行Simulink仿真,表明了终端滑模控制方法的可行性与有效性。
In the paper,a terminal sliding mode control method is presented for the system controlled by valve.Previous control methods of valve-controlled systems always assume that the convergence time is infinite.The control method proposed in this paper solves the problem and makes the tracking error converge to zero within finite time.The main feature of this method is that the terminal function is designed.Firstly,the nonlinear items are introduced through the terminal function to design the terminal sliding surface.Secondly,based on the Lyapunov stability theory,the terminal sliding mode controller is constructed,which can realize finite-time convergence and especially for the position tracking.Finally,the proposed control strategy is simulated using a valve-controlled system s model for the sine functions and cosine functions of the command input.The results of simulation show that the terminal sliding mode control method is feasible and effective for valve-controlled systems.
作者
许玲玲
延皓
XU Ling-ling;YAN Hao(Beijing Jiaotong University,School of Mechanical,Electronic and Control Engineering,Beijing 100044)
出处
《液压与气动》
北大核心
2019年第6期94-100,共7页
Chinese Hydraulics & Pneumatics
关键词
阀控缸系统
终端滑模
有限时间控制
valve-controlled system
terminal sliding mode
finite-time control
