双积分器的有限时间积分滑模设计及应用  

Design and application of finite time integral sliding mode of double integrator

作　　者：吴金尘 刘俊[1] 叶华文[1] WU Jin-chen;LIU Jun;YE Hua-wen(School of Automation,Central South University,Changsha Hunan 410083,China)

机构地区：[1]中南大学自动化学院,湖南长沙410083

出　　处：《控制理论与应用》2020年第7期1578-1582,共5页Control Theory & Applications

基　　金：国家自然科学基金项目(61374024)资助。

摘　　要：针对带有加性扰动的双积分器,本文结合嵌套饱和控制与积分滑模控制原理,设计一种带分数指数项的积分滑模面.运用Haimo有限时间稳定原理,证明了所设计的积分滑模不会产生奇异性.相应的控制设计由两部分组成:理想控制和不连续控制,可实现滑模面上动态的有限时间稳定,并消除加性扰动的影响.用直流电机角速度控制系统作为例子,说明了算法的有效性.For the double integrator with an additive disturbance,an integral sliding surface with fractional exponential term is designed motivated by the nested saturation control approach and integral sliding mode control principle.By using the Haimo’s finite-time stability theory,it is proved that there is no singularity in the assignment of the integral sliding mode.The suggested control design consists of two parts:An ideal control and a discontinuous control being to guarantee that the dynamics on the sliding mode surface is finite-time stable,and the influence of the additive disturbance is eliminated.The effectiveness of the algorithm is illustrated by dealing with the angular velocity control system of DC motor.

关 键 词：滑模控制 饱和控制 有限时间控制 镇定 直流电机 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]