基于三步法的板球系统滑模控制器研究  

Research on Sliding Mode Controller for Ball and Plate System Based on Three-Step Method

作　　者：韩光信[1] 孟圣钧 胡云峰[2] HAN Guangxin;MENG Shengjun;HU Yunfeng(College of Information and Control Engineering,Jilin Institute of Chemical Technology,Changchun 130012,China;College of Communication Engineering,Jilin University,Changchun 130012,China)

机构地区：[1]吉林化工学院信息与控制工程学院,长春130012 [2]吉林大学通信工程学院,长春130012

出　　处：《吉林大学学报（信息科学版）》2023年第6期976-982,共7页Journal of Jilin University（Information Science Edition）

基　　金：国家自然科学基金青年基金资助项目(61703177)。

摘　　要：为解决非线性板球系统滑模控制中出现的抖振现象以及轨迹跟踪过程中多扰动问题,提出了一种基于三步法的滑模控制方案。首先,建立板球系统状态空间模型,设计滑模控制律克服系统存在的不确定性扰动;其次,将三步法控制规律与滑模控制算法相结合,设计三步法滑模控制器,避免了滑模控制中存在的抖振现象;最后,通过李雅普诺夫函数证明了闭环控制系统的稳定性。对比仿真实验结果进一步验证该方法在轨迹跟踪控制中的有效性。In order to solve the chattering phenomenon in sliding mode control of nonlinear the ball and plate system and the multi-disturbance problem in trajectory tracking,we studied a sliding mode control scheme based on a three-step method.Firstly,establish the ball and plate system state-space model,and design the sliding mode control law to overcome the uncertain disturbance of the system.Secondly,combining the three-step control law with the sliding mode control algorithm,design a three-step sliding mode controller to avoid the chattering phenomenon in the sliding mode control.Finally,prove the closed-loop control system stability by Lyapunov function.Compared with the simulation results,this method's trajectory tracking control effectiveness is further verified.

关 键 词：板球系统 三步法 滑模控制 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]