电动负载模拟器反演终端滑模控制  

Backstepping Terminal Sliding-Mode Control for Electric Dynamic Load Simulator

作　　者：林辉[1] 戴志勇[1,2] 陈晓雷[1] 李兵强[1] 吕帅帅[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129 [2]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《北京理工大学学报》2016年第12期1259-1263,共5页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(51407143);国家教育部高等学校博士学科点专项科研基金资助课题(20136102120049);陕西省自然科学基础研究计划资助项目(2014JQ7264);陕西省微特电机及驱动技术重点实验室开放基金资助项目(2013SSJ1002);中央高校基本科研业务费专项资金资助项目(3102014JCQ01066)

摘　　要：电动负载模拟器存在高阶非线性、参数时变以及多余力矩扰动,常规控制算法难以得到理想控制效果.本文提出一种反演设计的终端滑模控制策略.采用反演控制的思想,将加载系统划分为3个子系统,设计终端滑模控制律,并引入低通滤波器显著降低抖振,使跟踪误差在有限时间内收敛到0.利用Lyapunov方法证明闭环系统的渐进稳定性及有限时间收敛特性,实验结果表明所提出控制策略的有效性,与常规前馈反馈控制相比,加载控制精度有显著提升.Owing to the interfere of higher order nonlinearity, parameters variability and surplus torque in electric dynamic load simulator（EDLS）, it is hard to obtain satisfactory results by the traditional compensation algorithm. To overcome the deficiencies of the conventional control scheme for EDLS, a chattering free terminal sliding mode control scheme based on backstepping design was proposed. The EDLS model was divided into three subsystems and the control law was designed using chattering free terminal sliding mode to make the load tracking error converged to zero within finite time, which the switching control term was softened to be a smooth signal by a low-pass filter. Through Lyapunov stability analysis, it is shown that the control strategy guarantees the asymptotic stability and a finite time convergence of the closed- loop system. The experimental results show the effectiveness of the proposed control scheme. Compared with the traditional feedforward and feedback control strategy, the accuracy of the load torque tracking is improved significantly.

关 键 词：电动负载模拟器 反演控制 终端滑模控制 永磁同步电机 多余力矩 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]