摘要
针对某机电伺服跟踪系统存在扰动和系统参数摄动的情况,提出了一种带有积分补偿的最优滑模变结构控制算法,并给出了获得切换函数、积分增益和控制函数的方法。仿真结果表明,这种新的控制算法比经典控制方法的效果更好。它能够获得灵敏的跟踪效果,提高了系统响应的快速性,具有较好的动态性能和鲁棒性,并消除了抖振。此控制系统结构简单,易于实现。
Referring to the existence of disturbance and variation of a mechatronic servo tracking system, an optimal sliding-mode variable structure control algorithm with integral compensation is presented. A method for obtaining switching function, integral gain and control function is also given. Simulation results show that the new control algorithm exhibits better control effect than that of classical control method. Moreover, accurate tracking effect and rapid response are achieved. The system exhibits high-performance dynamic characteristics and robustness as well as low chattering.
出处
《光电工程》
EI
CAS
CSCD
北大核心
2005年第8期23-27,共5页
Opto-Electronic Engineering
基金
兵器预研支撑项目
关键词
变结构控制
非线性控制
控制算法
滑动模态
Variable structurecontrol
Nonlinear control
Control algorithm
Sliding-mode
