基于输出延时观测器的板球系统滑模控制  

Sliding mode control of ball and plate system based on output delay observer

作　　者：鲍成 余成龙[1] 舒满征 单家正 邱雨 BAO Cheng;YU Chenglong;SHU Manzheng;SHAN Jiazheng;QIU Yu

机构地区：[1]安庆职业技术学院,安徽安庆246003

出　　处：《现代机械》2024年第4期89-93,共5页Modern Machinery

基　　金：安徽省自然科学研究项目(2022AH052605);大深度前围板拉延成形工艺参数多目标优化及应用(KY0000124)。

摘　　要：板球系统由于传感器迟滞效应会导致小球位移和速度信号的测量延时,进而产生轨迹跟踪误差。为解决这一问题,提出了一种基于输出延时观测器的滑模控制方法。利用牛顿定律和拉格朗日方程,对板球系统进行动力学分析得出状态方程,简化后得到系统线性化模型。据此设计输出延时观测器,通过稳定性条件方程确保观测器的稳定性。设计并分析了滑模控制器,通过Lyapunov函数保证系统的收敛性,基于此设计具有固定测量延时观测器的滑模控制器。最后通过MATLAB软件中的Simulink环境进行仿真,结果表明,该控制器使得系统具有良好的轨迹跟踪性能。In the ball and plate system,due to the sensor hysteresis effect,the measurement delay of the ball displacement and velocity signal will result in the tracking error.To solve this problem,a sliding mode control method based on output delay observer is proposed.Using Newton's law and Lagrange equation,the dynamic analysis of the ball and plate system is carried out to obtain the state equation,and the linearization model of the system is obtained after simplification.According to this,the output delay observer is designed,and the stability of the observer is ensured by the stability condition equation.The sliding mode controller is designed and analyzed,and the convergence of the system is guaranteed by the Lyapunov function.Based on this,a sliding mode controller with fixed measurement delay observer is designed.Finally,the simulation is carried out through the Simulink environment in MATLAB software.The results show that the controller gives the system good trajectory tracking performance.

关 键 词：板球系统 延时观测器 滑模控制 轨迹跟踪 MATLAB仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]