一种改进的全局滑模变结构控制器设计及应用  

Design and Application of an Improved Global Sliding Mode Variable Structure Controller

作　　者：田桂[1] 谢建 陈玉祥 朱泓臣 TIAN Gui;XlE Jian;CHEN Yu-xiang;ZHU Hong-chen(The First Flight Training Regiment of Army Aviation Institute, Yibin 644016, China;Rocket Force University of Engineering, Xi＇an 710025, China)

机构地区：[1]陆军航空兵学院第一飞行训练团,四川宜宾644016 [2]火箭军工程大学,西安710025

出　　处：《控制工程》2018年第4期587-590,共4页Control Engineering of China

摘　　要：研究了SISO系统模型不确定参数上下界绝对值确定情况下的全局滑模变结构控制器设计问题。针对文献[5]给出的全局滑模变结构控制器设计中对参数的特殊要求（上界大于等于0，下界小于等于0），通过引入不确定参数上下界的绝对值，设计了一种改进的全局滑模变结构控制器，并运用李雅普诺夫稳定性理论证明了控制器的稳定性。最后，以含二级液压缸的某大型液压举升系统轨迹跟踪控制为例进行仿真研究，结果表明改进的全局滑模变结构控制器对于系统参数和干扰的不确定性具有较强的鲁棒性，能实现对举升过程最优时间运动轨迹的准确跟踪。In this paper, we research the global sliding mode variable structure control for single-input single-output （SISO） systems with the known absolute value of upper and lower bound of uncertain parameters. Considering the special requirements of controller parameters （upper bound〉0, lower bound〈0） in the literature [5], an improved global sliding mode variable structure controller is designed, and the controller stability is proved. Finally, numerical simulations of the tracking control for hydraulic lifting systems are carded out, and the simulation results show that the controller designed has strong robustness against uncertainty of system parameters and interference, which can guarantee the accuracy of trajectory tracking.

关 键 词：全局滑模 变结构控制 液压举升系统 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]