摘要
研究存在参数摄动及非线性摩擦补偿的飞行模拟转台跟踪控制问题。利用自适应全局滑模变结构控制和反推控制,实现了伺服系统虚拟转速和位置跟踪控制,提出了飞行模拟转台的自适应反推全局滑模变结构控制方案,设计非线性干扰观测器对电机不确定非线性干扰进行观测,运用Lyapunov稳定性定理和Barbalat定理证明了系统的稳定性。采用一种改进的自适应粒子群算法在约束域中对控制器参数进行优化整定,仿真结果表明了所提方法的有效性。
The problem of tracking control for flight simulator servo systems with parameter uncertainties and nonlinear friction compensation was studied. Methods of adaptive global sliding mode control and backstepping control were respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems was proposed, parameter uncertainties and nonlinear friction compensation were observed by the nonlinear disturbance observer （NDO）, and its stability was analyzed by using Lyapunov stability theory and Barbalat theory. Adaptive inertia weight particle swarm optimization was used to search the optimal parameters of the controller in the constrained domain. Simulation results show the effectiveness of the proposed methods.
出处
《微特电机》
北大核心
2015年第4期70-73,80,共5页
Small & Special Electrical Machines
基金
工业控制技术国家重点实验室资助项目(ICT1447)
上海市重点学科建设项目(J50103)
关键词
反推滑模控制
自适应控制
非线性干扰观测器
参数优化
backstepping sliding mode control
adaptive control
nonlinear disturbance observer （NDO）
parameters optimization
