基于扰动观测器的双惯量系统高阶滑模控制

High-order Sliding-mode Control of Two-inertia System Based on Disturbance Observer

针对含有未知扰动的双惯量系统,基于有限时间扰动观测器,提出一种高阶积分滑模控制方法。首先,为了消除扰动对系统的影响,设计有限时间扰动观测器,通过扰动观测器估计出系统的未知扰动以及扰动的导数,并将估计值融入控制器的设计当中。然后,通过模型转换,将系统模型转换成标准的积分器串联形式,设计高阶积分滑模控制器。与传统积分滑模控制器相比,高阶积分滑模控制器减小了输入信号的"抖振",能够有效地抑制扰动,同时实现了对参考信号的精确跟踪。最后,通过MATLAB/Simulink进行了双惯量系统仿真,验证了所提控制策略的有效性。

Based on the finite-time disturbance observer, a high-order integral sliding-mode control method is proposed for the two-inertia system with unknown disturbance. Firstly, in order to eliminate the influence of disturbance on the system, a finite-time disturbance observer is designed. The unknown disturbance and the derivative of the disturbance are estimated by the disturbance observer, and the estimated value is incorporated into the controller design. Then, the system model is transformed into a standard integrator cascade system through model conversion, and a high-order integral sliding-mode controller is designed. Compared with the traditional integral sliding-mode controller, the chattering of the input signal is reduced, the disturbance can be effectively suppressed, and the accurate tracking of the reference signal is realized through high-order integral sliding-mode control. Finally, the simulation of the two-inertia system is carried out by MATLAB/Simulink, and the effectiveness of the proposed control strategy is verified.