高阶位置伺服系统的非线性变结构双模控制

Nonlinear Variable Structure DualMode Control for Higher Order Servo Systems

针对伺服系统在快速性、准确性和鲁棒性等方面的较高要求 ,提出了一种非线性变结构双模控制器 .在偏差较大时采用具有时变、非线性、“时间次优开关超平面”的滑模控制 ,以保证系统的鲁棒性和快速性 ;在偏差较小时 ,根据状态变量的幅值可自动转化为线性二次型 PI控制 ,以保证系统的准确性 .仿真结果表明本方案的有效性 .

A nonlinear variable structure dual mode controller is proposed to meet the higher demand of some servo systems on rapidity, robustness and high accuracy. This controller adopts the sliding mode control which possesses the time suboptimum switching hypoplane, in order to improve the system rapidity and robustness when the operating state is far from equilibrium, and it is able to turn automatically into linear quadratic PI control in order to guarantee the system accuracy when the operating state is near equilibrium point. The simulations verify the effectiveness of the control mode proposed.