摘要
以二阶非线性系统为研究对象,采用非奇异终端滑模控制器进行控制。在非奇异终端滑模控制器的设计中,提出了一种变速指数趋近律。采用饱和函数代替符号函数,对抖振现象进行抑制。采用Matlab/Simulink软件建立了仿真实验系统,对提出的方法进行了仿真验证。采用变速指数趋近律时,状态变量的收敛速度更快。该仿真实验系统将理论学习和编程实现相结合,提高了学生学习的兴趣和积极性,激发学生的创新意识。
Taking the two-order nonlinear system as the research object,the nonsingular terminal sliding mode( TSM)controller is used to control the system. In the design of the TSM controller,the ordinary exponential reaching law is improved,and a kind of variable-rated exponential reaching law is proposed. The chattering phenomenon is suppressed by using the saturation function instead of the sign function. The simulation experiment system is established by using Matlab/Simulink software,and the proposed method is verified by simulation. The convergence rates of the state variables are faster when the variable-rate exponential reaching law is adopted. The simulation experiment system combines theoretical learning with programming. It can improve students’ learning interest and enthusiasm and stimulate students’ comprehensive innovation ability.
作者
赵海滨
陆志国
刘冲
于清文
颜世玉
ZHAO Haibin;LU Zhiguo;LIU Chong;YU Qingwen;YAN Shiyu(School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China)
出处
《实验室研究与探索》
CAS
北大核心
2019年第4期67-70,84,共5页
Research and Exploration In Laboratory
基金
国家自然科学基金项目(51405073
51505069)
中央高校基本科研业务费资助项目(N150308001)
关键词
非奇异终端滑模控制
指数趋近律
非线性系统
MATLAB仿真
nonsingular terminal sliding mode control
exponential reaching law
nonlinear systems
Matlab simulation