基于指数趋近律的直流伺服系统滑模控制

Sliding Mode Control of DC Servo System Based on Exponential Approach Law

针对直流伺服电机外界扰动和参数摄动引起其结构模型变化,设计了一种采用指数趋近律滑模控制策略来控制直流伺服电机的方法,并且根据李雅普诺夫函数分析了系统的稳定性。为了减弱系统抖振,采用了连续饱和函数代替符号函数。通过与PID控制对比仿真表明,指数趋近律滑模控制系统响应速度快,对具有电机参数大范围摄动的系统,具有较强的鲁棒性。

In view of the external disturbance and parameter perturbation of DC servo motor,the structure model of the system is changed.This paper designs a kind of using exponential reaching law of sliding mode control strategy controled the DC servo motor,and based on the Lyapunov function the stability of the system is analysed.In order to reduce the chattering of the system,the continuous saturation function instead of the sign function is adopted.By comparison with the PI controller for DC servo control system.