基于改进型指数趋近律的直流电机滑模变结构控制器设计

Sliding Mode Variable Structure Controller Design of DC Motor based on Modified Exponential Reaching Law

为了进一步提高单环位置直流伺服系统快速跟踪能力,采用基于指数趋近律的滑模变结构控制策略.针对滑模变结构在滑模面来回切换产生的抖动问题,给出了一种改进型的指数趋近律,引入误差权值使切换函数快速进入滑模面,使得控制律品质得到改善.在Matlab实验平台上仿真结果显示,采用改进型指数趋近律后,单环位置直流伺服系统,动态响应快,快速跟踪给定信号,且具有一定的抗干扰的能力.

Sliding mode variable structure control strategy based on exponential approach law is used to improve the position of single loop DC servo system with faster tracking capability. Aiming at the chattering of sliding mode variable structure sliding,an improved exponential approximation law is presented,which introducing the error weight to make the switching function to enter the sliding surface quickly. It improves the quality of control law. Simulation and experiment results show that the proposed method in the brushless dc motor control system has good dynamics and fast tracks of the given signal with certain anti-interference ability.