含控制延时的离散滑模变结构控制

Variable Structure Control of Discrete-Sliding Mode with Time Delay

讨论了变结构采样控制系统中离散滑动模态存在的条件和满足条件的变结构控制逻辑方程，提出了采样系统的控制延时问题及其数学描述，在此基础上，针对数字控制式调速系统，给出了含控制延时的离散滑模变结构控制器的设计方法，并进行了仿真验证。

The conditions for existence of discrete-sliding mode are discussed. A set of equationsthat satisfy the conditions and with variable structure logic are given,The control time delayin a data sampling system and its mathematical description are proposed.For a nth-ordersystem with a control time delay of one sampling period,the state equation is transformedinto an(n+ 1)th-order one without control time delay,and then the discrete-sliding modecontrol is designed. With a DC variable speed system having variable structure discrete-slid-ing mode control as an example,a method of selecting the optimal switching hyperplane forthe sliding mode is presented.The design method presented has been verified by simulation.