位置伺服系统的变结构模型跟踪控制

Variable Structure Model Following Control of Position-Servo System

本文用变结构系统和滑模控制理论对一般位置系统的自适应模型跟踪控制提出了一种新的方法。该控制系统保持了现有自适应模型跟踪系统的优良特性,并能在参考模型阶数低于对象模型的条件下,保证系统输出快速跟踪其模型输出。理论分析和仿真结果表明:该控制方法设计简单,便于在线实现,并能同时应用于半闭环系统和全闭环系统。此外,该控制系统鲁棒性强,能明显改善系统的动态特性。

A new design method for general adaptive model-following control position system by using the theory of variable structure system and sliding mode is proposed in this paper.While the order of the reference model is lower than that of the plant,the resulting model-following control system exhibits fine properties inherent in adaptive model-following system designed by existing mothods and the tracking performance.It is shown by theoretical analysis and simula- tion that this control low,which can applied to semi-close loop and full-close loop system,is simply in design and on-line realization.Therefore,this control system can greatly improre the transient responce and robustness of the position system.