非奇异快速终端滑模液位跟踪控制  

Tracking Control of Water Level Based on a Nonsingular Fast Terminal Sliding Mode

作　　者：赵鹏[1] 姚敏立[1] 沈晓卫[1] 胡友涛[1] 

机构地区：[1]第二炮兵工程学院602教研室,西安710025

出　　处：《西安交通大学学报》2011年第12期39-44,共6页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(61074072)

摘　　要：针对传统终端滑模控制中控制输入奇异和收敛时间长的问题,提出了一种非奇异快速终端滑模(NFTSM)控制方法.该方法由NFTSM滑模面和控制律组成.在此框架下,首先通过在非奇异终端滑模面中引入指数函数和符号函数来设计NFTSM滑模面,其中指数函数用来加快状态远离平衡点时的收敛速度,符号函数用来提升系统稳定性.然后,基于NFTSM滑模面来设计由等效控制输入和切换控制输入构成的NFTSM控制律,该控制律具有能同时实现控制输入非奇异和系统状态有限时间内快速收敛的优势.最后,根据给出的耦合双容水箱模型数学描述,将NFTSM方法应用于耦合双容水箱液位控制中,设计了NFTSM液位跟踪控制器.仿真证明,在存在外扰且参数摄动25%条件下,该控制系统仍能精确跟踪给定液位,表明了NFTSM控制方法的有效性和鲁棒性.A nonsingular fast terminal sliding mode controller（NFTSM） is proposed to offset the singularity of control inputs and to shorten the convergence time in traditional terminal sliding mode control methods.The proposed method is composed of the NFTSM manifold and its control law.An exponential function of the system states is introduced into the manifold to accelerate the convergence when the states are far away from the equilibrium point,and a symbolic function is also brought in to ensure the stabilization of the system.Then,a novel sliding mode control law is deduced based on the newly proposed manifold,and is composed of the equivalent control law and the shift control law.The NFTSM control law is proved to be nonsingular and fast convergent in finite time.A mathematical description of the coupled tanks model is presented,based on which the novel NFTSM method is applied to control the water level tracking processing of the coupled tanks,and the NFTSM water level controller is designed.Simulations results show that the tracking process is precisely controlled even with the disturbance and a 25% perturbation in parameters,and that the NFTSM controller is robust.

关 键 词：跟踪控制 终端滑模 非奇异 快速 耦合双客水箱 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]