基于变指数趋近律的起重机自适应滑模控制

Adaptive Sliding Mode Control Based on Variable Exponential Reaching Law

以起重机升降系统位置控制为目标,针对传统滑模控制中要求系统不确定因素的界为已知的缺点,将自适应控制引入传统滑模变结构控制中,通过设计自适应律对起重机升降系统参数的变化及外部扰动进行辨识,同时采用变指数趋近律进一步克服传统滑模方法中存在的抖振问题。仿真结果表明,该控制算法不仅保持了传统滑模方法良好的鲁棒性,而且提高了系统的控制精度,减小了系统的抖振。

Regarding the position control of the crane lifer as the control object,aiming at the faults that asking for sys-tem uncertainty factors to be known,self-adapting control is introduced into the traditional sliding mode variable struc-ture control,variable parametrs and extenal interference of the system are be identified by adaptive law.At the asme time,the chattering of the system is weakened by adapting variable exponential reaching law.Simulation results show that the control algorithm not only maintain the good robustness to parameters and external disturbance of the traditional sliding mode control,but also improve the control precision and decreases the chattering enormously the system.