基于ESO的随动负载模拟器控制策略  

Control Strategy of Servo Load Simulator Based on Extended State Observer

作　　者：周生龙 陈机林[1] 侯远龙[1] 姜昭钰 史蒂芬 ZHOU Sheng-long;CHEN Ji-lin;HOU Yuan-long;JIANG Zhao-yu;SHI Di-fen(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《火力与指挥控制》2022年第4期113-119,共7页Fire Control & Command Control

摘　　要：由于随动负载模拟器中存在着位置扰动、摩擦以及间隙等非线性影响因素,常见的线性控制方法难以得到较好的控制效果,故提出了基于扩展状态观测器的CMAC前馈分数阶滑模控制策略。利用系统可测量参数,借助于扩展状态观测器观测出非线性扰动;借用双幂次趋近律分数阶滑模控制器,消除参数不确定性带来的干扰,同时又能够降低滑模“抖动”的影响;并采用非线性量化的小脑模型关节控制器作为前馈控制,提高输出的快速性。通过仿真实验验证了该方法的可行性,有助于提高随动负载模拟器的响应速度和稳定性。Due to the nonlinear factors such as position disturbance,friction and clearance in the servo load simulator,it is difficult to obtain better control effect with the common linear control method.Therefore,the CMAC feedforward fractional sliding mode control strategy based on extended state observer is proposed.The nonlinear perturbation is observed by means of the extended state observer using the measured parameters of the system.The fractional sliding mode controller with double power approach law can eliminate the disturbance caused by parameter uncertainty and can reduce the influence of sliding mode"jitter".The nonlinear quantification cerebellar model joint controller is used as feedforward control to improve the rapidity of output.The feasibility of this method is verified by simulation experiments,which is helpful to improve the response speed and stability of the servo load simulator.

关 键 词：随动负载模拟器 扩展状态观测器 分数阶滑模控制 非线性量化小脑模型关节控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]