中密度纤维板连续热压位置伺服系统自适应全局快速终端滑模控制

Adaptive Global Fast Terminal Sliding Mode Control For MDF Continuous Hot Press Position Servo System

为实现中密度纤维板(MDF)连续平压热压机液压位置伺服系统在参数摄动和外负载力干扰存在条件下快速、精确地位置跟踪,提出一种自适应全局快速终端滑模控制方法。首先,设计了自适应律以估计系统中的不确定参数,增强了控制系统的鲁棒性;然后,采用全局快速终端滑模控制方法,设计了一种新型的全局快速终端滑动模态,保证系统误差能够在有限时间内收敛为零;最后,利用Lyapunov稳定性理论给出了系统渐近稳定、跟踪误差在有限时间收敛的证明。仿真结果表明:该方法在保证系统稳定性的同时,可以实现系统误差在有限时间内收敛,提高了系统的鲁棒性和快速性。

In order to realize fast and accurate position tracking for medium density fiberboard （MDF） continuous flat hot press hydraulic position servo system in the presence of parameter perturbations and external load disturbance, a adaptive global fast terminal sliding mode control measure was proposed. Firstly, adaptive laws was designed to estimate the interior param- eter perturbations to improve the robustness of the control system. Then, the global fast terminal sliding mode control （GFTSMC） measure was used. By designing a novel global fast terminal sliding mode controller, the system error could be with convergence to zero in finite time. Finally, the proof of Lyapunov stability and the analysis of finite-time convergence were given. By simulation, the proposed measure ensured the stability of system, and realized the convergence of system error in a finite time, which improved the robustness and rapidity of the system.