改进指数趋近律的摆杆转动结构的滑模控制研究  

Research on sliding Mode control for swing rod rotating structure with improved exponential reaching law

作　　者：王斌[1] 束攀峰 Wang Bin;Su Panfeng(Changzhou Vocational Institute of Mechatronic Technology,Changzhou 213164,Jiangsu,China)

机构地区：[1]常州机电职业技术学院,江苏常州213164

出　　处：《船电技术》2025年第3期88-92,共5页Marine Electric & Electronic Engineering

摘　　要：为实现对二维平面内的定点作业,提高摆杆转动结构的控制精度,采用改进指数趋近律的滑模对转动结构进行控制。基于Simulink搭建了摆杆转动结构的传统滑模控制系统与改进指数趋近律的滑模控制系统。仿真结果表明,与传统滑模控制相比,改进指数趋近律的滑模控制可有效提高系统的响应速度,降低稳态误差,改善系统抖振问题,有利于提高摆杆转动结构的控制精度。In order to realize the fixed-point operation in the two-dimensional plane and improve the control accuracy of the swing rod rotating structure,the sliding mode with improved exponential reaching law is used to control the rotating structure.Based on Simulink,the traditional sliding mode control system with the swing rod rotating and the sliding mode control system with the improved exponential reaching law are built.The simulation results show that compared with the traditional sliding mode control,the sliding mode control with improved exponential reaching law can effectively improve the response speed of the system,reduce the steady-state error,and improve the system chattering problem,which is beneficial to improve the control accuracy of the swing rod rotating structure.

关 键 词：摆杆转动结构 滑模控制 改进指数趋近律 系统抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]