阀控液压缸系统低通滤波滑模变结构控制抖振问题的研究

Research on Chattering Problem of Low-pass Filtered Sliding Mode Variable Structure Control for Valve-controlled Hydraulic Cylinder System

为了使液压滑模变结构控制系统在不失稳定性与位置控制精度的情况下减轻抖振，建立了阀控液压缸系统的状态方程，设计了低通滤波的滑模变结构控制器，基于Lyapunov稳定性判别方程对稳定性预分析。并进行MATLAB仿真，结果分析表明，此方法可有效控制滑模变结构控制的抖振现象，并且有很好的跟踪性能。

In order to reduce the flutter of the hydraulic sliding mode variable structure control system without losing the stability and position control accuracy, the state equation of the valve-controlled hydraulic cylinder system was established and a low-pass filtered sliding mode variable structure controller was designed. Using Lyapunov stability discriminant equations for stability pre-analysis and MATLAB simulation. The results show that this method can effectively control the chattering phenomenon of sliding mode variable structure control and has good tracking performance.