摘要
对于带有建模不确定和外部干扰信号的二阶非线性系统,设计线性滑模面,分别采用指数趋近律和双幂次趋近律设计滑模控制器。通过线性滑模面绝对值的大小进行滑模控制器的切换,并采用MATLAB/Simulink软件建立仿真实验系统。结果表明,设计的滑模控制器能够进行二阶非线性系统的平衡控制,状态变量快速收敛到零,对建模不确定和外部干扰信号具有很好的鲁棒性。该仿真实验有助于学生对滑模控制器的理解,有助于滑模控制器的理论教学和实验教学。
For the second-order nonlinear system with modeling uncertainties and external disturbances, linear sliding mode surface is designed, and the exponential reaching law and double power reaching law are used to design the sliding mode controller respectively. The absolute value of the linear sliding surface is used to switch the sliding mode controller. The MATLAB/Simulink software is used to establish the simulation experimental system. The results show that the designed sliding mode controller can be used to balance the two-order nonlinear system and the state variables converge to zero rapidly, and have good robustness to modeling uncertainties and external disturbances. The simulation experiment is helpful for the students to understand the sliding mode controller, and to the theory teaching and experimental teaching of sliding mode controller.
作者
赵海滨
胡智勇
ZHAO Haibin;HU Zhiyong(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China)
出处
《实验室科学》
2022年第6期51-54,共4页
Laboratory Science
关键词
滑模控制器
指数趋近律
双幂次趋近律
仿真实验
sliding mode controller
exponential reaching law
double power reaching law
simulation experiment
作者简介
赵海滨,博士,讲师,主要研究方向为控制系统仿真技术。E-mail:hbzhao@mail.neu.edu.cn。
