摘要
针对滑模控制系统中存在抖振严重、收敛速度慢的问题,设计了一种带饱和函数的幂次滑模趋近律。该趋近律通过饱和函数和两个幂次项系数在系统趋近过程不同阶段进行针对性调节,提高了系统动态响应过程的收敛速度,且有效削弱了抖振,从理论上证明了其存在性和可达性。将该趋近律应用到存在干扰的二力臂机械手名义模型控制系统中,结果表明,所提出的趋近律提高了系统的收敛速度,而且有效抑制了系统的抖振。
In order to solve the problems of severe chattering and slow convergence in sliding mode control system, this paper designed a novel reaching law by using saturation function and power term. It adjusted the reaching law by the saturation function and two power term coefficients at different stages of the system approaching process. It can improve the convergence speed of the dynamic response process, and effectively weaken the chattering. Furthermore, this paper proved the existence and accessibility of the novel reaching law. Applying the reaching law to nominal model of the two arms manipulator control system with disturbance, the simulation results show that the reaching law improves the convergence speed and effectively attenuates the chattering of the system.
作者
李蒙蒙
叶洪涛
罗文广
Li Mengmeng;Ye Hongtao;Luo Wenguang(School of Electrical & Information Engineering, Guangxi University of Science & Technology, Liuzhou Guangxi 545006, China;Guangxi Key Laboratory of Automobile Components & Vehicle Technology, Guangxi University of Science & Technology, Liuzhou Guangxi 545006, China)
出处
《计算机应用研究》
CSCD
北大核心
2019年第5期1400-1402,1414,共4页
Application Research of Computers
基金
国家自然科学基金资助项目(61563006)
广西汽车零部件与整车技术重点实验室项目(2017GKLACVTZZ02)
广西高等学校千名中青年骨干教师培育计划资助项目
广西科技大学研究生教育创新计划项目(GKYC201906)
关键词
滑模控制
趋近律
抖振
收敛速度
名义模型
sliding mode control
reaching law
chattering
convergence speed
nominal model
作者简介
李蒙蒙(1988-),女,河南开封人,硕士研究生,主要研究方向为滑模控制;通信作者:叶洪涛(1979-),男,湖北洪湖人,教授,硕导,博士,主要研究方向为滑模控制、多智能体系统(yehongtao@126.com);罗文广(1967-),男,湖南衡东人,教授,硕导,硕士,主要研究方向为智能控制.
