一种基于特征模型的自适应离散滑模控制  

Characteristic Model-based Adaptive Discrete-time Sliding Mode Control

作　　者：钟华[1] 潘金文[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《信息与控制》2015年第1期56-61,共6页Information and Control

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：针对刚柔耦合系统建模复杂且所建模型阶次较高的问题,本文采用特征建模理论来简化建模过程.考虑到刚柔耦合系统的不确定性,在特征建模理论的基础上,提出了一种基于PID(proportional integral derivative)滑模面的自适应离散滑模控制器.该控制器不仅可以实现中心刚体角位移快速跟踪,同时可以快速抑制柔性部件的振动.物理实验结果表明,与常规PI(proportional integral)和模糊PI控制相比,角位移跟踪超调更小,柔性梁的振动抑制效果更明显.Considering the high order and model complexity for rigid-flexible couple system, character modeling theory is used to simplify the modeling process. In addition, considering the system＇s uncertainties, a charac- teristic model-based adaptive discrete-time sliding mode control with proportional integral derivative （PID） sliding surface is proposed. With this controller, the system can track the angular displacement of the center rigid rapidly and suppress the vibration of flexible parts soon. Compared with the traditional PI （ proportional integraal ） and fuzzy PI, the results of physical experiments show that angular displacement tracking has smal- ler overshot and better suppression effect for the vibration of flexible beams with the proposed control.

关 键 词：特征模型 自适应离散滑模控制 比例积分 模糊比例积分 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]