新型混联机构结合扰动观测器的滑模控制

Sliding mode control integrated with disturbance observer of a novel hybrid mechanism

针对一种新型混联式汽车电泳涂装输送机构,考虑其在实际控制中存在建模误差、参数不确定性、摩擦力和外部未知干扰,为削弱其对系统产生的不利影响,提高输送机构的控制性能,提出一种结合扰动观测器的滑模控制策略。运用Lyapunov稳定性理论证明了所提出控制算法的稳定性,并对滑模控制和结合扰动观测器的滑模控制进行MATLAB仿真比较。

For a novel hybrid mechanism for automobile electro-coating conveying with modeling errors,parameter uncertainties,friction and external unknown disturbances,a sliding mode control scheme integrated with disturbance observer is proposed to eliminate their adverse effects.The stability of the control algorithm is proved by using the Lyapunov method,and the MATLAB simulation results of the sliding mode control and sliding mode control with disturbance observer are compared.