液压电梯速度系统离散滑模变结构控制的研究

Research on Discrete Sliding Model Variable Structure Control of Hydraulic Elevator Velocity System

本文提出了一种离散鲁棒滑膜变结构控制方法。该方法包括两部分：带有积分控制作用的滑模控制和减少模型误差的鲁棒控制。该方法可以使控制系统跟踪任意或阶跃输入的稳态误差趋向于零。文中还导出了离散系统滑膜存在的条件，积分控制增益以及滑膜系数的确定方法。并将该方法用于液压电梯轿厢速度控制系统，仿真和实验结果表明：该方法在减小电梯的速度跟踪误差和提高电梯的平层精度上明显优于传统的ＰＩＤ控制。

This paper provides a new discrete sliding model variable structure control (DSMVSC) approach for velocity control of hydraulic elevator,and a procedure has been developed for determining the coefficients of the sliding model plane and the integral control gain. The controller composes of two parts:the DSMVSC with integral control part and the robust control part. With the inclusion of the integral and robust control,the DSMVSC control can achieve a zero steady state error for the arbitrary or step input under variation in the operating conditions. Simulation and experimental results show that the best performance can be obtained with using the proposed DSMVSC comparison with using PID in terms of minimizing the velocity tracking error and the cabin position accuracy of hydraulic elevator.