基于扩展状态观测器的新型超螺旋滑模控制策略  

New Super-twisting Sliding Mode Control Strategy Based on Extended State Observer

作　　者：贾超[1] 金超杰 JIA Chao;JIN Chao-jie(School of Electrical Engineering and Automation,Tianjin University of Technology,Tianjin Key Laboratory of Control Theory and Applications in Complicated Systems)

机构地区：[1]天津理工大学电气工程与自动化学院天津市复杂系统控制理论及应用重点实验室

出　　处：《化工自动化及仪表》2022年第2期133-143,共11页Control and Instruments in Chemical Industry

基　　金：天津市应用基础与前沿技术研究计划项目(青年项目)(15JCQNJC42700)。

摘　　要：针对一类具有未知内部动态和外部干扰的二阶非线性系统,提出基于扩展状态观测器(ESO)的超螺旋滑模控制策略。首先,将二阶系统的未知内部动态和外部扰动视为集总扰动,由ESO进行估计和补偿;然后,提出一种组合控制器设计方案,在ESO的基础上由新型边界层超螺旋滑模控制器来获得预期的控制性能;之后,提出一种基于Lyapunov稳定性理论的综合控制器-观测器稳定性分析方法,保证它在未知内部动态和外部干扰下的渐近收敛性;最后,将提出的控制策略在多缸液压机上进行仿真,结果表明:该控制策略对多缸液压机的位置跟踪和输出调平控制效果良好。In this paper,aiming at a class of second-order nonlinear systems with unknown internal dynamics and external disturbances,a superhelix sliding-mode control strategy based on extended state observer(ESO)was proposed.Firstly,having the second-order system’s unknown internal dynamics and external disturbance regarded as the lumped disturbance and to be estimated and compensated by ESO;and then,a combined controller design was proposed and based on ESO,the new boundary layer superhelix sliding mode controller obtains the expected control performance,and then,a comprehensive controller-observer stability analysis method based on Lyapunov stability theory was proposed to ensure its asymptotic convergence under the internal dynamics and external disturbance;finally,simulating the control strategy proposed on the multi-cylinder hydraulic press shows that,this control strategy has good control effect on the position tracking and output leveling of the multi-cylinder hydraulic press.

关 键 词：超螺旋滑模控制策略 多缸液压机 二阶非线性系统 扩展状态观测器 边界层 位置跟踪 输出调平 

分 类 号：TP214.2[自动化与计算机技术—检测技术与自动化装置]