多轴伺服运动输出反馈滑模控制仿真  

Multi-axis Servo Motion Output Feedback Sliding Mode Control Simulation

作　　者：赵丽 ZHAO Li(Shanxi Institute of Technology,Yangquan Shanxi 045000,China;Taiyuan University of Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]山西工程技术学院,山西阳泉045000 [2]太原理工大学,山西太原030024

出　　处：《计算机仿真》2020年第7期266-269,290,共5页Computer Simulation

基　　金：阳泉市科技局项目(2019G23)。

摘　　要：针对反馈滑模控制全状态反馈的可测条件难以满足,控制效果较弱的问题,进行多轴伺服运动输出反馈滑模控制仿真研究,基于多种运动控制函数相结合的多轴伺服运动,对滑模面进行创建,通过将控制目标的表达式转换成可观标准型公式,从而得到误差方程式以实现该滑模控制的架构,利用三个一阶惯性滤波器,使滑模运动存在性的条件成立,依据线性控制律与切换函数组的选取,获取相关参数的约束方程组,为了加强滑模控制通用特征方程式稳定性,令矩阵表达式特征值存在负实部,进而确定了控制最优参数,完成其整体框架的架构。经过仿真,表明上述滑模控制具备较好的有效性与适用性,不仅控制效果较为理想,而且在变动及干扰下,其鲁棒功能依旧得到了极强的发挥,具备理想的高频抖振免疫效果,从根本上解决了抖振可能导致的后续问题。At present,it is difficult to meet the measurable condition of full state feedback of feedback sliding mode control and the control effect is not ideal.Therefore,the simulation research on the sliding mode control for output feedback of multi-axle servo motion was proposed.Based on the multi-axle servo motion combining with multiple motion control functions,the sliding mode surface was constructed.Then,the error equation was obtained by converting the expression of control object into observable standard formula,so that the structure of sliding mode control was completed.Three first-order inertia filters were adopted to make the condition of sliding mode motion tenable.According to the selection of linear control laws and switch function groups,the constraint equations of relevant parameters were obtained.In order to strengthen the stability of general characteristic equation of sliding mode control,the eigenvalue of matrix expression must have the negative real part.Moreover,the optimal control parameters were determined and the overall framework was constructed.According to simulation results,we can see that the proposed sliding mode control has good effectiveness and applicability.Its control effect is ideal.Under the condition of variation and disturbance,its robust function still plays a very important role.In addition,it has ideal immune effect of high-frequency buffeting.Therefore,it fundamentally solves the follow-up problems caused by buffeting.

关 键 词：多轴伺服运动 输出反馈 滑模控制 控制切换函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]