摘要
以伺服系统为研究对象,提出了一种针对齿隙非线性的切换控制方法。在正常情况下采取线性控制,而在齿隙期间则采用基于时变滑模平面的时间次优控制;给出了一种监督控制机制,使系统能够选择合适时机由线性控制切换至时间次优滑模控制,保证整个系统为有界输入有界输出(BIBO)稳定。理论分析和仿真研究表明:该方案能够有效地消除由齿隙引起的冲击干扰,同时提高了控制器的鲁棒性。
Based on servo system, a backlash nonlinear switching control scheme with PTO (proximate time optimal) compensation was presented. With linear controller used in contact period, sliding control with PTO surface is switched into when system entering backlash. A supervising mechanism was introduced to find suitable moment switching from linear control to PTO sliding control, ensuring boundary input and boundary output(BIBO) stability of the whole system. The design can effectively eliminate the colliding disturbance resulting from backlash and improve the robustness of controller.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2006年第2期325-329,共5页
Acta Armamentarii
基金
国家自然科学基金项目(60174019
60034010)
关键词
自动控制技术
齿隙
滑模控制
时间次优控制
非线性控制
伺服系统
automatic controt technique
backlash
sliding system
proximate time optimal system
nonlinear control
servo system