一种基于齐次系统理论的二阶离散超螺旋控制算法  

A second-order discrete-time super-twisting control algorithm based on homogeneous system theory

作　　者：陈维乐 都海波[1] CHEN Wei-le;DU Hai-bo(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei Anhui 230000,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230000

出　　处：《控制理论与应用》2022年第4期761-769,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(62073113,62003122,61673153);安徽省自然科学基金项目(2008085UD03,1808085MF180);中央高校基本科研业务费项目(PA2020GDKC0016)资助。

摘　　要：相比于传统滑模控制算法,超螺旋控制算法可以对系统的干扰进行精确估计并补偿,因此可以显著提高闭环系统的抗干扰能力.然而,对于采样控制系统,由于采样频率的限制,离散超螺旋控制算法在性能方面受到限制.本文基于齐次系统理论提出了一种改进的离散超螺旋控制算法.通过引入一个可自由调节的分数幂参数,基于齐次系统理论,证明了所提出的改进控制算法可以使得闭环系统具有更高的控制精度.仿真实例验证了理论的正确性.Compared with the traditional sliding mode control algorithm,the super-twisting control algorithm can accurately estimate and compensate the disturbance of the system,so it can significantly improve disturbance rejection performance of the closed-loop system.However,for the sampled-data control system,due to the limitation of the sampling frequency,the discrete-time super-twisting control algorithm is limited in performance.This paper proposes an improved discrete-time super-twisting control algorithm based on homogeneous system theory.By introducing a freely adjustable fractional power parameter,based on homogeneous system theory,it is proved that the improved control algorithm proposed can make the closed-loop system have higher control accuracy.The simulation example verifies the correctness of the theory.

关 键 词：滑模控制 超螺旋算法 齐次系统 采样控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]