摘要
研究基于离散变速趋近律的变结构控制设计问题.利用不等式形式到达条件研究变速趋近律的抖振机理,并对其鲁棒性进行分析.研究结果表明,只要不确定因素有界,即可保证闭环系统的鲁棒稳定性,而通过调整变速趋近律自身参数,可以避免抖振并使系统具有良好的动态品质.将理论成果用于某型船舶航向自动舵的设计,实验结果证实了它的有效性.
The design of variable structure control based on the discrete variable rate reaching law is discussed. The reason for system chattering is analyzed by introducing the inequation form reaching condition, and the robustness property is studied. It is shown that the variable rate reaching law can avoid the chattering, and exhibit good dynamic performance by adjusting parameters. Besides the robust stability of the closed-loop system can be ensured if the uncertainties are bounded. The variable rate reaching law is applied to the controller design for a ship autopilot. Experiment results verify its effectiveness.
出处
《海军工程大学学报》
CAS
2004年第6期41-44,52,共5页
Journal of Naval University of Engineering
关键词
离散变结构控制
变速趋近律
抖振
鲁棒性
船舶自动舵
discrete variable structure control
variable rate reaching law
chattering
robustness
ship autopilot
