基于改进积分滑模控制多电机协同控制研究

Multi-motor cooperative control strategy based on improved integral sliding mode control

多电机协同控制历来处于运动控制领域的核心位置,在现代工业自动化发展过程中扮演着一个不可或缺的角色。针对多电机协同控制易受非线性、外界扰动等不确定性因素影响,提出了一种基于积分滑模控制的协同控制策略。以幂次趋近率为基础,引入反余切函数改变幂次趋近项系数,又加入指数项,使系统状态在远离滑模面时快速接近滑模面,接近滑模面时又减缓速度减少抖振。改进了偏差耦合控制结构,提升了系统受扰后的动态响应、跟踪能力。最后,基于李雅普诺夫稳定性理论对系统进行收敛性分析,并通过仿真试验对比验证所提方法策略的有效性。

Multi-motor collaborative control has always been at the core of the motion control field,and plays an indispensable role in the development of modern industrial automation.Aiming at the fact that the multi-motor cooperative control is susceptible to uncertain factors such as nonlinearity and external disturbance,a cooperative control strategy based on integral sliding mode control was proposed.Based on the power approach rate,an inverse cotangent function was introduced to change the coefficient of the power approach term,and an exponential term was added to make the system approach the sliding mode surface quickly when it is far from the sliding mode surface,and be able to slow down the speed and reduce chattering when it is close to the sliding mode surface.The deviation coupling control structure was improved,and the dynamic response and tracking ability of the system after disturbance were improved.Finally,based on the Lyapunov stability theory,the system was analyzed for convergence,and the effectiveness of the proposed method was verified by simulation experiments.