对象参数摄动定位系统中离散滑模控制器的设计及其应用

Design and Applications of Discrete Sliding Mode Controller for Positioning Servo-Systems with Parameter Perturbance

由直流脉宽调速系统（PWM）和位置环构成的定位系统中，速度环的参数随负载特性；电网电压；给定工况而振动是不容忽视的．作者通过系统辨识建模也证实了这一事实[1，2]．因此在设计位置环的离散滑模控制时，必须针对速度环（即位置环的控制对象）的参数振动范围采用“对象参数振动离散滑模控制器的设计方法”，以确保系统在参数振动时的稳定性和快速、无超调、准确定位的优良动态品质。为剖析该设计方法的控制效果，本文作了对比性研究，并将该设计方法用于工业试验中，取得了满意的结果．

In the positioning servo-system, which generally is configured by the D. C. pulse width modulator (PWM) ve-locity goveming system and position servo-loop, the paramenter perturbance of PWM velocity loop really ekist by reason of suchas the load behavior; power voltage supply; operating setting value, etc. [1.2], and it cannot be ignored. By using the identifiationtechnique to form the mathematical model of the system, authors have confimed the facts. Therefore, to design the discrete slid-ing mode controller (DSMC) of the positioning servo-system, the perturbed parameters value bounds of the PWM velocity loop,Whih is as the controlled plant of position servo-loop, should be accounted. Consequently, the design princeiple of DSMC for ac-counting system with parameter perturbance is proposed by the authors.The proposed method can ensure the stability of systemwith parameter perturbance and the behavior of non-overshoot,fast precise positioning In order to reveal the effects of the designmethod,the comparative research work is done by the authors. Also, it has been tested in an industrial experiment,the resultsproved it is satisfactory.