悬吊漂浮物随动系统的等效滑模控制研究  

Study on Equivalent Sliding Mode Control of Suspended-floater Follow-up System

作　　者：尤波[1] 高扬 许家忠[1] 李智 丁亮[2] 刘振[2] YOU Bo;GAO Yang;XU Jia-zhong;LI Zhil;DING Liang;LIU Zhen(College of Automation,Harbin University of Science and Technology,Harbin 150080,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《控制工程》2018年第11期1959-1964,共6页Control Engineering of China

基　　金：国家自然科学基金项目(51405109);中央高校基本科研业务费专项资金资助(HIT.NSRIF.2017027)

摘　　要：针对悬吊漂浮物随动系统的欠驱动特性,设计一种基于等效控制的滑模控制方法。通过随动系统动力学方程推出等效控制,结合带指数收敛项的切换控制使系统迅速保持在滑模面上,进而消除抖动。相比于传统PID控制方法,该方法参数调节简单,在目标体质量发生改变的情况下依然可以完成实时跟随。仿真分析和实验结果表明随动系统能够快速跟上目标体,跟踪完成后与目标体保持同步运行,保证吊索竖直向上,验证了这种基于等效控制的滑模控制方法可行。A sliding mode control method based on equivalent control is designed for the underactuated suspended-floater follow-up system. The equivalent control method is derived by the dynamic equation of the follow-up system. The equivalent control method and the switching control method of exponential convergence are combined in this paper. In this way, the system is kept in the sliding mode. Then the chattering will be eliminated. Compared with the traditional PID control method, the parameter of this system is adjusted simply by this method. The follow-up platform can still complete follow-up in real time when the mass of the floating object is changed. The simulation and experiment results indicate that the follow-up platform is capable of tracking the floating object rapidly. And the follow-up platform is able to move in constant velocity synchronously with the floating object while the sling is kept upright. The feasibility of the sliding mode control method based on equivalent control to the field of a following suspension floating object is verified.

关 键 词：悬吊漂浮物 随动系统 等效滑模控制 仿真 实验 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置]