跷跷板系统干扰补偿的分层滑模控制策略研究  

Research on Hierarchical Sliding Mode Control Strategy for Disturbance Compensation of Seesaw System

作　　者：姜堃 张井岗[2] 沈云亮 邵雪卷[2] JIANG Kun;ZHANG Jinggang;SHEN Yunliang;SHAO Xuejuan(School of Intelligent Manufacturing and Vehicles,Shanxi Jinzhong Institute of Technology,Jinzhong 030600,China;School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]山西晋中理工学院智能制造与车辆学院,山西晋中030600 [2]太原科技大学电子信息工程学院,山西太原030024

出　　处：《自动化仪表》2024年第1期28-36,共9页Process Automation Instrumentation

基　　金：山西省重点研发基金资助项目(202102020101013);山西省基础研究计划基金资助项目(201901D111263);太原科技大学博士科研启动基金资助项目(20202070)。

摘　　要：为提高跷跷板系统在外部干扰下的平衡控制性能,提出一种基于指数收敛干扰观测器与切换增益模糊自适应分层滑模控制相结合的复合控制策略。首先,设计一种指数收敛干扰观测器,对系统受到的外部扰动等不确定因素进行估计补偿,以改善控制器鲁棒性。该观测器不需要状态变量二阶导的信息,可以应对实际工程中难以通过求导的方式获取加速度信号的问题。然后,针对跷跷板这类强耦合欠驱动系统提出一种分层滑模控制算法,并进一步针对滑模控制算法在未知大干扰下切换增益过大的问题,通过模糊规则的设计将切换增益模糊化,以降低系统抖振。最后,仿真和试验结果表明,相较于传统的滑模控制算法,该分层滑模控制算法抗干扰能力更强、切换增益更低。该策略可应用于类跷跷板平衡控制的实际系统。To improve the equilibrium control performance of the seesaw system under external disturbances,a composite control strategy based on the combination of exponentially convergent disturbance observer and switching gain fuzzy adaptive hierarchical sliding mode control is proposed.Firstly,an exponentially convergent disturbance observer is designed to estimate and compensate for the uncertainties of the system subjected to external disturbances to improve the robustness of the controller.The observer does not need the information of the second-order derivatives of the state variables,which can cope with the problem that it is difficult to obtain the acceleration signals by means of derivatives in practical engineering.Then,a hierarchical sliding mode control algorithm is proposed for strongly coupled underdriven systems such as seesaw,and furthermore,to address the problem that the switching gain of the sliding mode control algorithm is too large in the presence of unknown large disturbances,the switching gain is blurred through the design of fuzzy rules in order to reduce the system jitter.Finally,the simulation and experimental results show that the hierarchical sliding mode control algorithm has stronger interference immunity and lower switching gain compared with the traditional sliding mode control algorithm.The stategy can be applied to the real system of seesaw-like balance control.

关 键 词：跷跷板系统 分层滑模控制 指数收敛干扰观测器 干扰补偿 切换增益模糊化 模糊自适应 欠驱动系统 鲁棒性 

分 类 号：TH113.2[机械工程—机械设计及理论]