面向电机伺服的自适应超螺旋滑模辅助干扰观测器  

An adaptive super-twisting sliding-mode-assisteddisturbance observer for motor servo

作　　者：田大鹏[1,2] 李妍 王昱棠 TIAN Dapeng;LI Yan;WANG Yutang(Laboratory of Dynamic Optical Imaging and Measurement,Laboratory of Airborne Optical Imaging and Measurement,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;University of Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所动态光学成像与测量全国重点实验室,航空光学成像与测量重点实验室,吉林长春130033 [2]中国科学院大学,北京100049

出　　处：《长春工业大学学报》2024年第5期398-405,共8页Journal of Changchun University of Technology

基　　金：国家自然科学基金(12203049);吉林省自然科学基金面上项目(20240101380JC);中国科学院青年创新促进会项目资助(2023230)。

摘　　要：提出一种自适应超螺旋滑模辅助干扰观测器,这种新型滑模辅助干扰观测器由自适应超螺旋滑模补偿器和干扰观测器组成,结合两者优势以增强电机伺服系统的抗干扰能力。干扰观测器负责估计补偿低频干扰,自适应超螺旋滑模补偿器对干扰观测器未补偿的高频干扰,以及由于模型不确定性造成的干扰估计误差进一步补偿。文中构造了两个Lyapunov函数分别证明了滑模函数和自适应律的稳定性与收敛性。与干扰观测器和自适应滑模辅助干扰观测器的对比实验,验证了在电机受到干扰时所提方法的位置收敛时间与另外两种方法相比,分别减小了1.177 s和0.927 s,提高了电机伺服系统对干扰的补偿速度。同时所提方法的滑模抖振比之降低了68%,减小了滑模抖振。In this paper,an adaptive super twisting sliding mode assisted disturbance observer is proposed.The new disturbance observer is composed of the adaptive super twisting sliding mode compensator and the disturbance observer.It combines the advantages of both to enhance the antidisturbance performance of the motor system.The disturbance observer performs the estimation and compensation for the low-frequency disturbance.The adaptive super twisting sliding mode compensator further estimates and compensates the high-frequency disturbance uncompensated,and residual of disturbance estimates caused by model uncertainty.Two Lyapunov functions are constructed to prove the stability of the sliding mode surface and the adaptive law respectively.In the experiments,the proposed method is compared with the disturbance observer and the adaptive slidingmode-assisted disturbance observer.The results show that compared with the other two methods,the position convergence time of the proposed method is reduced by 1.177 and o.927 seconds respectively,and the sliding mode chattering of the proposed method is reduced by 68%.It is proved that the proposed method can improve the compensation speed of the motor system for interference and reduce the sliding mode chattering.

关 键 词：突变干扰 超螺旋滑模补偿器 自适应律 干扰观测器 电机伺服系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]