板球系统的反步时变快速终端滑模控制  

Research on Backstepping Time-Varying Fast Terminal Sliding Mode Control of Ball and Plate System

作　　者：韩光信[1] 王嘉伟 孟繁江 HAN Guangxin;WANG Jiawei;MENG Fanjiang(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;Jilin Jianlong Iron and Steel Co.Ltd.,Panshi 132301,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]吉林省磐石市建龙钢铁有限公司,吉林磐石132301

出　　处：《吉林化工学院学报》2023年第7期48-54,64,共8页Journal of Jilin Institute of Chemical Technology

摘　　要：为了提升板球系统的抗干扰能力,提高轨迹跟踪控制精度,基于反步法(backstepping)研究了时变快速终端滑模控制。首先建立板球系统的运动学模型,在分析系统特性及控制要求的基础上确定了合理的控制方案,进而以X轴为例设计包含双曲正切函数的时变滑模控制规律及低通滤波器,并在李雅普诺夫(Lyapunov)框架下证明了闭环系统的稳定性。仿真结果表明,该方法控制精度更高,抗扰能力更强,控制效果更好。In order to enhance the ability of disturbance rejection and improve the accuracy of trajectory tracking control for ball and plate system,this article proposed a time-varying fast terminal sliding mode control based on backstepping technology.Firstly,the kinematic model of the ball and plate system was established,and a reasonable control strategy was determined on the basis of the system characteristics and control requirements.Secondly,taking the X-axis as an example,the time-varying sliding mode control law and low-pass filter containing the hyperbolic tangent function were designed,and the stability of closed-loop systems was obtained under the framework of Lyapunov stability theory.The simulation results showed that the proposed method has higher control accuracy,stronger disturbance rejection ability and better control effect.

关 键 词：板球系统 时变快速终端滑模 双曲正切函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]