电动舵伺服系统指数趋近律分段滑模控制

Multi-segment Sliding Mode Control of Electromechanical Actuator Servo System Based on Exponential Approaching Law

针对船舶电动舵伺服系统在海浪等复杂不确定扰动环境中的位置控制问题,提出了改进型变增益指数趋近律分段滑模控制策略。由加速段、恒速段和减速趋近段组成的分段滑模控制器,实现了梯形速度分布模式,相比4个滑模面设计方法,降低了滑模面切换频率和系统运算量。采用改进型变增益指数趋近律,不仅实现切换项增益的自适应调整,而且较好平衡了滑模固有抖振和系统鲁棒性之间的矛盾。仿真和试验结果表明,相比经典PID控制和传统单段滑模控制,改进型变增益指数趋近律分段滑模控制在有扰情况下能够保持优越的动静态性能,具有非常好的抗干扰能力。

For the position control problem of the ship electromechanical actuator servo system in waves and other complex uncertain disturbances, the improved multi-segment sliding mode control algorithm based on variable gain exponential approaching law is proposed. The trapezium speed distribution mode is implemented by the multi-segment sliding mode controller which is composed of acceleration segment, constant speed segment and deceleration approach segment. The sliding segment switch frequency and operating workload are reduced against to the design method of four sliding segments. The variable gain exponential approaching law is adopted, and not only adaptive switching item gain adjustment is achieved, but also the contradiction between sliding-mode inherent chattering and the system robustness is balanced. The simulation and experiment results show that the improved multi-segment sliding mode control algorithm based on the variable gain exponential approaching law can maintain excellent static and dynamic performance, and has strong robustness in the case where there is interference compared with the classic PID control algorithm and the traditional single segment sliding mode control algorithm.