泵控系统的积分终端滑模位置控制

Integral Terminal Sliding Mode Position Control of Pump Control System

为提高执行器的响应速度、鲁棒性和控制精度,提出了一种新型控制技术,将扩张状态观测器与反步积分终端滑模预设性能控制器相结合。首先,将非线性干扰观测器与扩张状态观测器融合,实现对状态量、外部干扰和匹配干扰的观测。然后,在控制器中引入积分终端滑模和规定性能约束,以加快执行器在位移误差远离平衡点时的跟踪误差收敛速度,并确保瞬态和稳态位置响应在要求的有界范围内。最后,基于李雅普诺夫方法对控制器进行稳定性分析。结果表明:在跟踪具有外负载干扰的复合轨迹情况下,设计的控制器能保证瞬态性能和规定的跟踪精度,与反步滑模控制器和PID相比,所提出的控制器具有更佳的控制性能。

A novel control technique is proposed to improve the response speed,robustness,and control accuracy of actuators by combining an extended state observer with a backstepping integral terminal sliding mode preset performance controller.Firstly,the nonlinear disturbance observer is integrated with the extended state observer to achieve observation of state variables,external disturbances,and matching disturbances.Then,integral terminal sliding mode and specified performance constraints are introduced into the controller to accelerate the convergence speed of the tracking error of the actuator when the displacement error is far from the equilibrium point,and ensure that the transient and steady-state position responses are within the required bounded range.Finally,stability analysis of the controller is conducted based on the Lyapunov method.The results indicate that under the condition of tracking composite trajectories with external load disturbances,the designed controller can guarantee transient performance and the specified tracking accuracy.Compared to the backstepping sliding mode controller and PID controller,the proposed controller exhibits better control performance.