基于Kalman滤波的力矩电机直驱转台系统数字滑模控制  

Digital sliding mode control of direct drive rotary table servo systems of torque motor based on Kalman filter

作　　者：刘建林[1,2] 施大发[2] 罗德荣[1] LIU Jianlin SHI Dafa LUO Derong(College of Electrical and Information Engineering, Hunatl Untwrsity, Changsha 410082, China Department of Eleetrical Engineering, Hunan Mechanical ＆ Electrical Polytechnic, Changsha 410151, China)

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]湖南机电职业技术学院电气工程学院,湖南长沙410151

出　　处：《中南大学学报（自然科学版）》2017年第9期2370-2375,共6页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(51577052);湖南省教育厅科技项目(16C0571)~~

摘　　要：针对含有测量噪声和过程噪声的力矩电机直驱转台伺服系统,提出一种基于卡尔曼滤波器的数字滑模控制策略。首先,考虑到现有控制多采用计算机进行离散数字控制,首先将力矩电机伺服系统的数学模型进行数字离散化;其次,对离散化系统设计基于指数趋近率的软切换滑模控制器;最后,将设计的滑模控制器信号和带噪声的输出通过Kalman滤波器,得到系统最终输出信号。仿真实验结果表明:所设计的控制器对系统的噪声具有很强的鲁棒性和跟踪性能。Focused on the problems of measurement noise and process noise existing in the servo system of torque motor direct drive rotary table, Kalman filter based digital sliding mode control strategy was presented. Firstly, considering that computers were used in most of the control method for servo systems, the mathematical model of the torque motor servo system was discretized. Then, soft switch sliding mode control with exponential reaching law was designed. Finally, the output signals of the designed controller and system with noises were passed through the Kalman filter, and the final output signal was obtained. The simulation results show that the proposed system with the proposed method has strong robustness with noise and high tracking performance.

关 键 词：力矩电机 直驱转台 数字滑模 KALMAN滤波器 

分 类 号：TM301.2[电气工程—电机]