位置伺服系统的自适应积分滑模控制研究  

Control Research of Position Servo System Based on Adaptive Integral Sliding Mode

作　　者：高远[1] 孔峰[1] 罗文广[1] 谭光兴[1] 

机构地区：[1]广西工学院电子信息与控制工程系,广西柳州545006

出　　处：《电气传动》2012年第5期33-37,共5页Electric Drive

基　　金：广西自然科学基金(2010GXNSFA013126)

摘　　要：以直流伺服系统为对象,研究了一种自适应积分滑模控制方法。该方法采用积分滑模函数推导出滑模控制器的等效控制器,并提出一种具有自适应规律的切换控制器。理论证明该控制方法控制稳定,分析了控制器的抖振效应。采用模块化的直流电机位置伺服系统MS-150,对该控制方法的有效性和可实现性进行实验研究。实验结果表明该控制方法有良好的控制性能,且能有效降低控制的抖振效应。An adaptive sliding mode control method with integral element was studied for controlling DC servo system. This method introduces a new-type integral sliding mode surface to deduce an equivalent control- ler,and presents a novel switching controller with adaptive features. The control stability is proved by theoreti- cal analysis,and the chattering of sliding mode controller is discussed. The proposed method is applied to a la- boratory scale DC motor modular servo system MS- 150 to verify its validity and realizability. The experimen- tal results demonstrate adaptive sliding mode controller not only has better control performances,but also can weake the chattering effect of controller.

关 键 词：直流伺服系统 积分滑模控制 自适应 抖振效应 MS-150 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]