δ算子的无抖振变结构控制研究

Study on Chattering-free Variable Structure Control Based on δ Operator

为了解决计算机高速采样对离散化系统的影响,并保证离散后系统的稳定性,从而需要讨论一种新的离散控制系统。首先,针对计算机高速采样导致的系统发散问题,采用δ算子对原连续系统进行离散化;然后,对离散变结构控制系统的抖振产生原因进行分析;最终,提出基于δ算子的全程滑态无抖振变结构控制系统。为保证离散控制系统的稳定性和无抖振性,给出各个控制系统参数的选取原则。仿真结果显示,提出的采用δ算子高速离散化变结构控制系统的方法是可行的,离散化后的变结构控制系统是稳定的;提出的无抖振变结构控制系统的设计方法也是正确的。

In order to solve the influence of computer high-speed sampling on discrete system and ensure the stability of discrete system, the new discrete control system is need to be discussed. Firstly, aiming at the problem of system divergence caused by computer high speed sampling, the δ operators are used to discretize the original continuous system. Then, the cause of chattering in the discrete variable structure control system is analyzed. At last, the full sliding state variable structure control system based on δ operator is proposed. In order to guarantee the stability and the chattering-free performance of the discrete control system, the selection principle of each control system parameter is given. The simulation results show that it is feasible to use δ operator to discretize the variable structure control system at high speed, the discretized variable structure control system is stable, and the design method of the chattering-free variable structure control system is also correct.