摘要
针对一类多子系统之间具有强耦合关系的非线性系统,提出自适应蚁群滑模控制方法。依据等效滑模控制理论,建立滑模算法控制结构图,用于解耦非线性耦合系统;根据自适应蚁群算法建立了多变量蚁群算法的图形表示,对滑模控制中的滑模面斜率进行优化,来削弱"抖振"现象。该方法可以用较小的计算量对耦合系统自然解耦,并利用蚁群算法的并行特性来优化参数。将该方法应用到三轴摇摆台控制系统中,仿真结果表明,与其他算法相比,超调量减小50%,上升时间和调节时间也明显减小,且有较好的控制效果和鲁棒性。
An adaptive Ant Colony Sliding Mode Control（ACSMC） approach is proposed for a class of nonlinear systems with multi-coupling subsystems for the first time.The structure diagram was established to decouple the systems of nonlinear coupling system based on the equivalent theory of sliding mode control.A multivariate graphical representation of the ant colony algorithm was given to optimize the surface slope of sliding mode control to eliminate the chattering phenomenon.Precise natural decoupling with smaller amount of calculation in coupling system is achieved and use the parallel characteristics of ant colony algorithm to optimize the parameters is employed.By applying this method to three-axis swing platform control system the simulation results prove that compared with other algorithms the proposed approach decreases overshoot 50% and it also reduces the rising time and the settling time significantly and has better effectiveness and robustness.
出处
《电机与控制学报》
EI
CSCD
北大核心
2011年第12期67-72,共6页
Electric Machines and Control
基金
黑龙江省教育厅资助项目(11551425)
关键词
蚁群滑模控制
非线性
三轴摇摆台
解耦
ant colony sliding mode control
nonlinear
three-axis swingplatform
decoupling
