基于干扰补偿趋近律的离散滑模多周期重复控制  

Discrete-time sliding mode multi-periodic repetitive control with reaching law based on disturbance compensation

作　　者：杨启尧 邬玲伟 严求真[3] 林志明 YANG Qi-yao;WU Ling-wei;YAN Qiu-zhen;LIN Zhi-ming(College of Electrical Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou 310018,China;College of Aeronautical Engineering,Taizhou University,Taizhou 318000,China;College of Information Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou 310018,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]浙江水利水电学院电气工程学院,杭州310018 [2]台州学院航空工程学院,浙江台州318000 [3]浙江水利水电学院信息工程学院,杭州310018 [4]南京航空航天大学自动化学院,南京210016

出　　处：《控制与决策》2023年第2期421-428,共8页Control and Decision

基　　金：浙江省自然科学基金探索项目(LQ21F030002);浙江省公益技术研究项目(LGF21F030001);江苏省博士后科研资助计划项目(2020Z230);浙江大学工业控制技术国家重点实验室开放课题项目(ICT20019)。

摘　　要：针对离散时间系统的多周期干扰抑制问题,提出一种离散滑模多周期重复控制器设计方法.利用非线性幂次函数设计新型离散趋近律,将周期差分等效干扰以加权形式嵌入到趋近律中,构造带干扰补偿作用的离散趋近律,并据此设计离散滑模多周期重复控制器.为了进行控制器参数整定和表征闭环系统的收敛性能,推导准滑模域边界层的表达式.所提出控制方法既能够消除多周期干扰信号,也能够减小准滑模域边界层.数值仿真验证了所提出控制方法的有效性.This paper presents a design method of a discrete-time sliding mode multi-periodic repetitive controller for the multi-periodic disturbance suppress problem of discrete-time systems. A novel reaching law is designed using the nonlinear power function, periodic difference equivalent disturbance in weighted form is embedded in the reaching law to form a discrete reaching law with disturbance compensation, and thus developing the discrete-time sliding mode multi-period repetitive controller. In order to adjust the control parameters and characterize the convergent performance of the closed-loop system, we derive the expression of the quasi-sliding mode domain. The developed control method not only achieves the rejection of multi-periodic disturbances, but also can obtain the smaller quasi-sliding mode boundary layer. Simulation results validate the effectiveness of the presented control method.

关 键 词：离散时间系统 趋近律 非线性幂次函数 滑模控制 重复控制 干扰补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]