基于dSPACE的直流电机非奇异终端滑模控制  

Nonsingular Terminal Sliding Mode Control of DC Motor Based on d SPACE

作　　者：吴秀珍[1] 邵雪卷[1] 陈志梅[1] 

机构地区：[1]太原科技大学,太原030024

出　　处：《微电机》2016年第4期45-48,共4页Micromotors

基　　金：山西省自然科学基金(2014011020-1;2);山西省研究生教改项目(20132050;20142058)

摘　　要：直流调速系统采用PI控制时存在转速超调,且抗扰性能较差,为改善系统输出响应,将非奇异终端滑模控制用于双闭环调速系统中。选取非线性滑模面使转速误差按预定轨迹在有限时间内收敛至零,解决了超调问题;控制律中使用负载观测项,保证了滑动模态下系统对扰动的不变性。基于d SPACE平台的实验结果表明,该方案下的系统跟随性能和抗扰性能均有明显提升。Overshoot exists in DC speed regulating system with PI control,and the anti-interference ability is poor,in order to improve the output response of the system,nonsingular terminal sliding mode control was applied to double-closed-loop speed regulating system. The selection of nonlinear sliding mode surface made speed error converges to zero within limited time according to the desired trajectory,thus the overshoot was eliminated. The item of load observation in the control law ensured the system invariability of disturbance in sliding mode. Experimental results based on d SPACE platform show that the following performance and the anti-interference ability of the system with this scheme are obviously improved.

关 键 词：PI控制 非奇异终端滑模控制 双闭环调速系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]