摘要
针对稳定平台伺服系统中干扰对跟踪精度的影响,提出一种高阶终端滑模控制算法。首先,提出一种基于super-twisting算法的高阶滑模干扰观测器的设计方法,实现对系统中干扰的快速估计与实时补偿。其次,提出一种基于Lyapunov函数的高阶终端滑模控制器,由到达条件推导而得,高阶终端滑模控制将不连续的切换项作用于变量的高阶微分,使系统在保持滑模控制强鲁棒性的同时又能较大程度地削弱滑模控制中的抖振,实现对未估计干扰的精细化补偿。通过Lyapunov稳定理论证明了系统的稳定性。仿真结果表明了控制策略的有效性。
Aiming at the influence of interference on tracking accuracy in stable platform servo system, a high-order terminal sliding mode control algorithm is proposed. Firstly, a design method of high-order sliding mode interference observer based on super-twisting algorithm is proposed to realize fast estimation and real-time compensation of interference in the system. Secondly, a high-order terminal sliding mode controller based on Lyapunov function is proposed, which is derived from the arrival condition. The high-order terminal sliding mode control applies discontinuous switching terms to the high-order differential of the variable, so that the system maintains the strong robustness of sliding mode control and the chattering in sliding mode control can be attenuated to a large extent, and fine compensation for unestimated interference can be achieved. The stability of the system is proved by Lyapunov stability theory. The simulation results show the effectivnesss of the control strategy.
作者
任彦
王义敏
牛志强
肖永健
REN Yan;WANG Yi-min;NIU Zhi-qiang;XIAO Yong-jian(School of Information Engineering,Inner Mongolia University of Science and Technology,Baotou 014010,China;Inner Mongolia North Heavy Industry Group Co.,Ltd,Baotou 014010,China)
出处
《控制工程》
CSCD
北大核心
2021年第3期553-558,共6页
Control Engineering of China
基金
国家自然科学基金(62063027)
内蒙古自然科学基金(2019MS06002)
内蒙古自治区科技(2020GG0048)。
关键词
稳定平台
高阶终端滑模
干扰观测器
高阶微分
削弱抖振
Stable platform
high-order terminal sliding mode
interference observer
higher-order differential
weaken chattering
