摘要
针对离心-振动试验系统的振动跟踪控制存在参数不确定性和干扰的问题,提出一种基于准连续高阶终端滑模的振动位移跟踪控制方法。首先介绍高阶滑模控制基本原理,并建立了离心-振动复合试验系统数学模型,根据模型特点,设计了二阶终端滑模面,使得振动位移在有限时间内跟踪上指令信号。然后利用李雅普诺夫第二法推导出高阶滑模振动位移控制律,通过准连续高阶滑模控制消除抖振。仿真结果表明该方法能够有效降低系统抖振,并能够使得控制输入平滑连续,与传统滑模相比,振动跟踪能够更快收敛到给定值,并实现振动位移跟踪的精确定位,具有较高的控制精度和可靠性。
With the higher-order sliding mode control theory, a quasi-continuous high-order terminal sliding mode vibration control method was presented for a centrifuge force-vibration test system in presence of parameter uncertainty and external disturbances. Firstly, the basic principles of the higher-order sliding mode control were introduced. Then, the centrifuge force-vibration test system mathematical model was built and two-order terminal sliding modes were designed to make the vibration displacement trace the command signal in finite time. Finally, the higher-order sliding mode vibration displacement control law was derived with Lyapunov second method. The simulation results showed that the vibration tracing can converge the given value more rapidly than a general slide-mode control can and the method effectively suppress chattering and achieve vibration tracking maneuver precision positioning, and have higher precision and reliability.
出处
《振动与冲击》
EI
CSCD
北大核心
2013年第23期191-195,共5页
Journal of Vibration and Shock
基金
国防预研基金项目(2001D1302)
关键词
振动控制
准连续高阶滑模
位移跟踪
离心力
Centrifuges
Control system synthesis
Mathematical models
Vibration analysis
Vibration control
