基于降阶ESO的电动舵机非奇异终端滑模控制  

Composite Nonsingular Terminal Sliding Mode Control for Electromechanical Actuator Based on Reduced-order ESO

作　　者：张皎[1] 刘源翔[1] 杨旭[1] 

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《自动化与仪表》2015年第11期9-12,共4页Automation & Instrumentation

基　　金：国家高技术研究发展计划资助项目;国家"985"工程三期重点建设项目(BIT-2011-ZHB134)

摘　　要：针对电动舵机系统中存在的间隙、摩擦、时变干扰等非线性因素,该文结合降阶扩张状态观测器(ESO)和非奇异终端滑模控制(NTSMC),提出一种复合控制方法来实现闭环系统误差有限时间收敛并提高系统的抗干扰能力。首先引入降阶ESO估计系统的干扰,并将观测值作为前馈量补偿到输入端,然后应用非奇异终端控制方法设计控制器。文中对该复合控制器的稳定性进行了证明,并给出闭环系统误差收敛域。与自适应非奇异终端滑模控制方法进行仿真对比,进一步验证了该方法的有效性。Considering the influence of clearance,friction and time-varying nonlinear factors on the electromechanical actuator,based on the reduced-order extended state observcr（ESO）and nonsingular terminal sliding mode control （NTSMC） ,a composite control scheme is proposed to improve the disturbance rejection property of system. The esti- mated value is used in the feedforward compensation design. Then the nonsingnlar terminal sliding mode control technique is applied to the feedback design. In this paper,the stability of the composite is proved ,and the error con- vergence region of the closed-loop system is given. Simulation comparisons with the adaptive nonsingnlar terminal sliding mode control,is given to validate the effectiveness of the proposed menthod.

关 键 词：电动舵机 非奇异终端滑模控制 降阶ESO 有限时间收敛 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]