基于扩张状态观测器的双轴摇篮转台滑模控制方法  

Sliding mode control method for dual-axis cradle turntable based on extended state observer

作　　者：简艳英[1] 刘婷婷 JIAN Yanying;LIU Tingting(School of Computer Engineering,Shangqiu Polytechnic,Shangqiu 476100,China;School of Computer and Software Engineering,Sias University,Zhengzhou 451150,China;Henan Intelligent Manufacturing and Digital Twin Engineering Research Center,Zhengzhou 451150,China)

机构地区：[1]商丘职业技术学院计算机工程学院,商丘476100 [2]郑州西亚斯学院计算机与软件工程学院,郑州451150 [3]河南省智能制造数字孪生工程研究中心,郑州451150

出　　处：《现代制造工程》2025年第3期141-149,共9页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(232102210198)。

摘　　要：针对双轴摇篮转台系统中的非线性机械摩擦、外界扰动和模型误差等不确定性导致控制精度下降的问题,采用扩张状态观测器设计了改进的滑模控制律。首先,分析了双轴摇篮转台的基座、摇篮和转台的空间坐标系关系,并建立了摇篮和转台的动力学模型;然后,将系统中的不确定性扩展为系统状态,并利用设计的扩张状态观测器对不确定性进行估计;最后,通过设计的改进滑模控制律动态补偿不确定性的影响,有效抑制了抖振现象,实现了对双轴摇篮转台的高精度控制。仿真结果表明,设计的扩张状态观测器能够准确估计双轴摇篮转台中的不确定性,最大估计误差仅为0.01(°)/s2,改进的滑模控制律对转台转动角速度和摇篮转动角速度的最大跟踪误差分别仅为0.02(°)/s和0.03(°)/s。测试结果表明,提出的改进滑模控制方法与自适应迭代学习控制方法和命令滤波自适应反步控制方法相比具有更强的鲁棒性和更高的准确性,转台转动角和摇篮转动角的最大定位误差分别仅为0.04°和0.05°,大幅提高了双轴摇篮转台系统的控制精度。Aiming at the problem of decreased control accuracy caused by uncertainties such as nonlinear mechanical friction,external disturbances,and model errors in the dual-axis cradle turntable system,an improved sliding mode control law was designed using an extended state observer.Firstly,the spatial coordinate system relationship among the base,cradle and turntable of the dual-axis cradle turntable was analyzed,and the dynamic models of the cradle and turntable were established.Then,the uncertainty in the system was extended to the system state,and the designed extended state observer was used to estimate the uncertainty.Finally,the improved sliding mode control law was designed to dynamically compensate for the influence of uncertainty,effectively suppressing the phenomenon of chattering and achieving high-precision control of the dual-axis cradle turntable.The simulation results show that the designed extended state observer can accurately estimate the uncertainty in the dual-axis cradle turntable,and the maximum estimation error is only 0.01(°)/s 2.The maximum tracking errors of the improved sliding mode control law for turntable rotation angular velocity and cradle rotation angular velocity are only 0.02(°)/s and 0.03(°)/s,respectively.The test results show that the proposed improved sliding mode control method has stronger robustness and higher accuracy compared to adaptive iterative learning control method and command filtered adaptive backstepping control method,and the maximum positioning errors for turntable rotation angle and cradle rotation angle are only 0.04°and 0.05°,respectively,greatly improving the control accuracy of the dual-axis cradle turntable.

关 键 词：双轴摇篮转台 伺服电机 模型误差 机械摩擦 不确定性 扩张状态观测器 滑模控制律 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]