伺服系统的滑模变结构控制器设计  

Design of Sliding Mode Controller for Servo System

作　　者：李伟[1] 韩崇伟[1] 位红军[1] 赵宇和[1] 

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《计算机仿真》2011年第12期5-8,13,共5页Computer Simulation

摘　　要：伺服系统不确定性和离散指数趋近律造成系统的系统抖振,传统的PID控制方法难以实现系统对精度和稳定性的要求。为了提高控制系统的性能,提出滑模变结构控制问题。采用参数辨识法,分别获取被控对象在空载和满载模型,并将空载测试数据按二阶模型结构辨识得到被控对象近似模型,作为离散滑模控制器设计的标称模型,并采用自适应趋近律设计了离散滑模控制器,分别对被控对象的两个模型进行控制仿真。结果表明,离散滑模变结构控制器能够使伺服系统满足要求,对参数摄动和外部干扰具有较强的鲁棒性,提高了控制器性能,为设计提供了依据。The uncertainty and discrete exponential reaching law in servo system cause the system buffeting,traditional PID control can not reach the requirements of system accuracy and stability.The paper studied the sliding mode variable structure control problem of.uncertain discrete-time system.The parameter identification method was adopted to obtain the models of the controlled objects under the conditions of no-load and full load respectively,Based on th no-load testingg data and according to the second-order mode structure,the approximate model of the object was identified as the nominal model of discrete sliding moe controller design.Adaptive sliding mode reaching law was used to design the discrete sliding mode variable structure controller,with which,two control simulations were carried out respectively with two controlled object modes.The results show that the design of discrete sliding mode variable structure controller realizes stable servo system and accurate transfer guns,and is robust under the parameter perturbation and external disturbance,with smooth controller outputs.

关 键 词：位置伺服系统 离散滑模变结构控制 自适应趋近律 参数辨识 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]