多变量系统自适应二阶滑模分解控制方法  

Multivariable system's self-adaptive second-order TSM decomposed control

作　　者：郑雪梅[1] 赵琳[1] 冯勇[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学电气工程与自动化学院,黑龙江哈尔滨150001

出　　处：《大庆石油学院学报》2006年第4期74-76,122,共4页Journal of Daqing Petroleum Institute

基　　金：哈尔滨工业大学校基金资助(HIT.2003.14);国家自然科学基金资助课题(60474016)

摘　　要：提出了一种多变量模型不确定系统的自适应二阶终端滑模分解控制方法.通过状态变换和去耦合处理,将系统转换为块能控标准型,变换后的系统由输入输出子系统和零动态子系统组成.通过设计状态反馈,使得零动态子系统成为满足性能要求的稳定系统.提出了特殊的二阶自适应终端滑模超曲面和相应的控制策略,使输入输出子系统状态渐近收敛至平衡点,随后零动态子系统渐近收敛至平衡点.该控制方法对于维数较高系统的控制具有较大的意义,可简化设计,实现鲁棒分解控制.同时,由于采用了二阶滑模的思想,有效地消除了系统的高频抖振.仿真结果表明了该方法的有效性.The paper proposes an adaptive second-order sliding mode decomposed control method used for a multivariable system with parameter uncertainties and external disturbances. The system is converted into the block controllable form consisting of two parts, one is the input-output subsystem, and another is the zero-dynamic subsystem, which is designed to be stable by using the state feedback control. A special adaptive second-order TSM is proposed for the input-output subsystem. The control law is designed to drive the states of the input-output subsystem converge to the equilibrium asymptotically. Then the states of the zero-dynamic subsystem converge to the equilibrium point asymptotically. The method proposed in the paper is significant for multivariable systems with high dimensions, which can simplify the design and realize robust decomposed control. Meanwhile, the high frequency chattering of the control signals is eliminated. The simulation results are presented to validate the design.

关 键 词：多变量系统 标准型分解 终端滑模控制 零动态系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]