特种车辆起竖系统的干扰观测反步终端滑模控制  

Terminal Sliding Mode Control of Disturbance Observation and Back-Stepping for Special Vehicle Erecting System

作　　者：王莉娜[1] 邱常卿 王昊[2] 杭杰 WANG Lina;QIU Changqing;WANG Hao;HANG Jie(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Beijing Institute of Mechanical Equipment,Beijing 100854,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京机械设备研究所,北京100854

出　　处：《北京理工大学学报》2025年第4期409-417,共9页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(52477170,52177167)。

摘　　要：针对多级缸液压起竖系统运行过程中存在的未建模动态、参数摄动等造成的复合干扰问题,提出一种基于非线性干扰观测器(NDO)的反步终端滑模控制策略.将系统模型的未知部分和外部干扰视为集总扰动,设计非线性干扰观测器对系统的集总扰动进行观测,并基于观测值设计反步终端滑模控制器.对所提出控制方法的稳定性进行了证明.通过Matlab/Simulink仿真,与传统滑模控制器、基于干扰观测器的传统滑模控制器的控制效果进行了对比和分析.仿真结果表明:所提出方法能有效提升液压起竖系统运行过程中多级液压缸的位移跟踪性能,受到扰动时,位移跟踪误差能快速趋近于0,表现出良好的跟踪鲁棒性.A back-stepping terminal sliding mode control strategy was proposed based on nonlinear disturbance observer(NDO)to address the composite interference problems caused by un-modelled dynamics and parameter perturbations during the operation of a multi-stage hydraulic erecting system.Considering the unknown parts of the system model and external disturbances as lumped disturbances,a nonlinear disturbance observer was designed to observe the lumped disturbances of the system,and a back-stepping terminal sliding mode controller was developed based on the observed values.And then,the stability and convergence of the proposed control method were demonstrated.Finally,according to Matlab/Simulink simulation,the control effects of the proposed method were compared and analyzed with that of traditional sliding mode controllers and traditional sliding mode controllers based on disturbance observers.The simulation results show that the proposed method can effectively improve the displacement tracking performance of multi-stage hydraulic cylinders during the operation of hydraulic erecting systems.When disturbed,the displacement tracking error of the system can quickly approach zero,demonstrating better tracking robustness.

关 键 词：阀控缸 复合扰动 非线性干扰观测器 终端滑模控制 位移跟踪控制 

分 类 号：TH137[机械工程—机械制造及自动化]