摘要
针对带有未知摩擦力矩与输入饱和约束的机电伺服系统,提出了一种基于扩张状态观测器的伺服系统自适应滑模控制策略.首先,根据微分中值定理将非光滑饱和函数转化为仿射形式.其次,设计非线性扩张状态观测器并采用极点配置法确定观测器参数,用于补偿未知摩擦、饱和等非线性项以及外部干扰的影响.然后,通过结合参数自适应律和滑模理论,设计自适应滑模控制器,保证系统输出快速稳定地跟踪期望信号且改善抖振问题.仿真对比结果验证了所提方法的优越性.
In this paper, an adaptive sliding-mode control scheme based on the extended state observer （ESO） is proposed for an electromechanical servo system with unknown friction and input saturation constraint. First of all~ the non-smooth saturation is transformed into a smooth affine function according to the differential mean value theorem. Secondly, the unknown friction, the saturation constraint and the external interference are compensated by using ESO so that all of their impacton the system performance can be eliminated, and a pole placement technique is employed to determine the ESO parameters. Then, by combining the parameter adaptive law and sliding mode theory, an adaptive sliding-mode controller is designed to guarantee that the system output can rapidly track the desired signal with less chattering phenomenon. Finally, comparative simulation results are provided to show the superior performance of the proposed method.
作者
陈强
罗鹏
CHEN Qiang LUO Peng(College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023)
出处
《系统科学与数学》
CSCD
北大核心
2016年第10期1535-1547,共13页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金(61403343)
中国博士后科学基金(2015M580251)
浙江省教育厅科研项目(Y201329260)
浙江省"十二五"普通本科高校新兴特色专业建设项目(080601)资助课题
关键词
伺服系统
饱和约束
扩张状态观测器
自适应滑模控制
Servo system； saturation constraint； extended state observer； adaptivesliding-mode control
