磁悬浮动量轮全滑模变结构控制

Whole Sliding Mode Variable Structure Control for Magnetic Momentum Wheel

通过事先给定系统期望运动轨迹,设计出仿射非线性系统变结构控制的切换函数,该切换函数满足系统的初始状态在滑模面内的要求,因而在变结构控制的作用下,可以保证系统从初始时刻就一直运动在滑模面上,是一种全滑模变结构控制,具有比传统变结构控制更好的鲁棒性。研究还表明,约束在滑模面内的期望运动方程就是系统的滑模运动方程,系统的运动能够较好的跟踪设定的期望轨迹。将全滑模变结构控制应用于四轴型磁悬浮动量轮的控制,获得了良好的控制效果。

Based on the desired trajectory, the new type of switching function of variable structure control （ VSC ） for nonlinear system is proposed. The switching surface includes the initial state, therefore the state would be kept in the switching surface from the initial time to the final time under the variable structure control. The whole sliding mode control has better robustness compared with that of traditional VSC. The analysis shows the desired dynamic function within the switching surface is the sliding mode function of VSC. The system response can track the desired trajectory completely. With applying VSC to the four axial magnetic suspended momentum wheel, the simulation shows the good dynamic response and stability of the method.