引入滑区法的板球系统新型幂趋近律滑模控制  

Novel power reaching law sliding mode control for ball and plate system introducing sliding region method

作　　者：李江峰 向凤红[1] LI Jiang-feng;XIANG Feng-hong(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,Yunnan,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《云南大学学报（自然科学版）》2021年第5期887-894,共8页Journal of Yunnan University(Natural Sciences Edition)

基　　金：国家自然科学基金(61963022).

摘　　要：针对板球系统的滑模控制趋近速度慢、在切换面附近易产生高频抖振的问题,设计了一种基于新型幂趋近律的滑动区域法滑模控制方案.首先,在原切换面的基础上设计了两条辅助切换面,定义了滑动区域;然后,提出了新的趋近参数,并用幂次函数代替符号函数;最后,采用Lyapunov理论证明了控制策略的稳定性.实验结果表明,所设计的控制器不仅有良好的动态性能及稳态精度,还能有效地抑制系统产生的抖振,验证了控制策略的有效性.Aiming at the slow approach speed of sliding mode control of ball and plate system and high-frequency chattering near the switching surface,a sliding region method sliding mode control scheme based on a novel power reaching law is designed.Firstly,two auxiliary switching surfaces are designed on the basis of the original switching surface to define the sliding region.Then,a novel reaching parameter is proposed,and a power function is used to replace the sign function,Finally,the Lyapunov theory is used to prove the stability of the control strateg.The experimental results show that the designed controller not only has good dynamic performance and steady-state accuracy,but also can effectively suppress the chattering generated by the system,which verifies the effectiveness of the control strategy.

关 键 词：板球系统 滑模控制 新型幂趋近律 滑动区域 抖振削弱 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]