基于频域辨识模型的新型幂次趋近律滑模控制  

Novel sliding mode control with power reaching law based on frequency domain identification models

作　　者：钟华[1] 王永[1] 邵长星[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《计算机应用》2014年第12期3637-3640,3645,共5页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61004017);中央高校基本科研业务费专项资金资助项目(WK2100100016)

摘　　要：针对刚柔耦合系统传统理论建模过程复杂、模型不准确问题,采用频域子空间方法来辨识实验系统中的电机模型和压电片模型。同时针对传统趋近律的到达时间较长以及抖振问题,提出一种新型幂次趋近律的滑模控制。理论分析表明在不影响抖振情况下可缩短到达时间和扩大传统幂次趋近律参数α的范围。考虑柔性梁振动特性对系统性能的影响,采用子滑模面的方法来设计滑模控制器。最终,实验结果表明所设计控制器能够实现对中心刚体角度的快速跟踪,并且能够快速抑制柔性梁的振动。Considering the complexity and inaccuracy of traditional theoretical modeling for rigid-flexible couple system, the frequency domain subspace method was used to identify the motor＇ s model and piezoelectric ceramic piece＇ s model in the experimental system. Due to the problem of chattering and long reaching time of traditional reaching law, a novel sliding mode control with power reaching law was proposed. Theoretical analysis shows that the reaching time can be shortened and the range of traditional power reaching law＇ s parameter α can be expanded, which will not affect the chattering. Considering the effect of vibration characteristics of flexible beam on system performance, the method of sub-sliding surface was used to design the sliding mode controller. Lastly, experimental results show that the designed controller can track the angle of the center of the rigid body rapidly and suppress the vibration of the flexible beam quickly.

关 键 词：刚柔耦合系统 子空间辨识 幂次趋近律 子滑模面 滑模控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]