基于高阶滑模的自适应Super-Twisting控制系统设计

Design of Adaptive Super-Twisting Control System Based on High-Order Sliding Mode

目前设计的自适应Super-Twisting控制系统由于不具备抖振情况感知能力,导致响应时间过长,控制精度较低;为了解决上述问题,基于高阶滑模设计了一种新的自适应Super-Twisting控制系统;系统硬件由采集模块、存储模块、控制模块、电路模块组成;采集模块利用AD8036采集器,主要负责采集Super-Twisting的控制参数,并对控制信号进行调理,存储模块选择TDB7659存储器,主要负责存储由采集模块采集的控制参数数据,控制模块是控制系统的核心,主要由微控制器、D/A转换器单元、信号输入通道、输出通道、电源单元组成,控制系统的电路主要负责为各个模块提供所需的电压;引入高阶滑模理论,通过主程序完成系统初始化、设计Super-Twisting控制器、实现自适应Super-Twisting控制;实验结果表明,设计的基于高阶滑模的自适应Super-Twisting控制系统能够精准地削弱系统抖振,响应时间均不超过0.1 s,电流控制精度、位置控制精度和速度控制精度都在95%以上。

The currently designed adaptive Super-Twisting control system does not have the ability to sense the chattering conditions,resulting in too long response time and low control accuracy.In order to solve the above problems,a new adaptive Super-Twisting control system is designed based on the high-order sliding mode.The system hardware is composed of acquisition module,storage module,control module and circuit module.The acquisition module uses the AD8036 collector,which is mainly responsible for collecting the control parameters of Super-Twisting and conditioning the control signals.The storage module selects TDB7659 memory,which is mainly responsible for storing the control parameter data collected by the acquisition module.The control module is the core of the control system.It is mainly composed of a microcontroller,a D/A converter unit,a signal input channel,an output channel and a power supply unit.The circuit of the control system is mainly responsible for providing the required voltage for each module.By introducing the high-order sliding mode theory,the system initialization is completed through the main program,the Super-Twisting controller is designed,and the adaptive Super-Twisting control is realized.Experimental results show that the designed adaptive Super-Twisting control system based on the high-order sliding mode can accurately weaken system chattering,and the response time does not exceed 0.1 s,and the current control accuracy,position control accuracy and speed control accuracy are all above 95%.