|
标题：基于滞环函数的电动舵机滑模控制 |
|
作者：张月玲 |
|
| 2016年第9期 访问次数：304次 |
|
摘要：针对受摩擦力等外部扰动力矩严重影响的电动舵机，研究了基于趋近律的滑模输出反馈跟踪控制问题。提出了离散变结构控制的一种新趋近律，即用滞环函数代替指数趋近率中的符号函数。仿真结果验证了该方法的有效性。与旧控制律相比，新控制律下的系统跟踪稳态误差降低了50%，对象输入u(k)和相轨迹的抖振幅度也分别下降了80%和83%。
关键词：滞环函数；电动舵机；抖振；滑模控制；趋近律
Abstract: The sliding mode output feedback tracking control problem based on reaching law for electromechanical actuator seriously influenced by gliding friction and other external disturbances was studied. A new sliding mode reaching law was proposed, in which a adaptive hysteresis function was substituted for the sign function of exponential reaching law. Finally, simulation results demonstrated the efficiency of the proposed method. Compared to the old control law, the tracking error under the new control law is reduced by 50%, and the chattering amplitude of object input u(k) and phase trajectory is reduced by 80% and 83%, respectively.
Key words: hysteresis function; electromechanical actuator; chattering; sliding mode control; reaching law
|
|
| |
|
