中凸变椭圆活塞直线伺服系统的变增益零相位误差跟踪滑模控制

Zero Phase Error Tracking Control with Variable Gain-sliding Mode Control for Middle-convex and Varying Ellipse Piston Linear Servo System

针对中凸变椭圆活塞直线伺服驱动系统,提出了变增益零相位误差跟踪—滑模控制这一新型控制策略,以提高系统的跟踪性能和抗扰性能。它结合了变增益零相位误差跟踪控制器的理想跟踪特性与滑模控制器的抗扰动能力的优点,并采用扰动观测器对负载扰动进行估计和补偿,从而保证了中凸变椭圆活塞直线伺服驱动系统的快速稳定性。仿真结果表明,采用这种控制策略可以十分有效地减小中凸变椭圆活塞直线伺服驱动系统的跟踪误差。

A new method of zero phase error tracking control with variable gain-sliding mode control is presented for middle-convex and varying ellipse piston linear servo system to improve tracking and disturbance restraint performance. It integrates the ideal tracking characteristic of zero phase error tracking controller with variable gain with the ability of disturbance restraint for sliding mode controller. A disturbance observer is used to estimate and compensate load disturbance to ensure the rapidity and stability of middle-convex and varying ellipse piston linear servo drive system. The simulation results show that the tracking error of middle-convex and varying ellipse piston linear servo drive system can be reduced effectively by this method.