摘要
针对永磁同步电机驱动的导弹尾翼电动负载模拟器存在的高阶非线性及参数时变问题,提出一种基于反演设计的快速终端滑模控制方法.建立电动负载模拟器系统的状态空间模型,将建模误差及参数摄动视为未知扰动项,基于反演控制的设计思想,将系统模型划分为3个子系统,采用快速终端滑模方法设计控制律,使跟踪误差在有限时间内收敛到零.然后应用Lyapunov方法证明了闭环系统的渐进稳定性及有限时间收敛特性,最后通过试验验证了该控制策略的有效性.与PI+前馈补偿控制策略相比,该方法能够更好地抑制系统中的多余力矩,提高了电动加载系统的力矩加载精度,同时有效提高了加载系统的鲁棒性.
To overcome the higher order nonlinearity and parameters variability in the model of electric dynamic load simulator system using permanent magnet synchronous motor,a fast terminal sliding mode control approach based backstepping scheme is proposed to design a load tracking control. A whole state space model of electric dynamic load simulator system using permanent magnet synchronous motor is developed whose model uncertainties are considered as unknown external disturbances. Based on backstepping method,the model is divided into three subsystems,the fast terminal sliding-mode control law is designed to make the load tracking error converge to zero within a finite time. Through Lyapunov stability analysis,it is shown that the control strategy guarantees the asymptotic stability and a finite time convergence of the closed-loop system. Finally,Experimental results are provided to illustrate the effectiveness of the proposed control scheme. Compared with compensation control with PI and feedforward,the proposed method is more effective to eliminate the extra torque of electric dynamic load simulator. Also,the robustness and accuracy are improved obviously.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2017年第3期22-28,共7页
Journal of Harbin Institute of Technology
基金
国家自然科学基金(51407143)
高等学校博士学科点专项科研基金(20136102120049)
中央高校基本科研业务费专项(3102014JCQ01066)
陕西省自然科学基础研究计划(2014JQ7264
2015JM5227)
陕西省微特电机及驱动技术重点实验室开放基金(2013SSJ1002)
关键词
电动负载模拟器
永磁同步电机
快速终端滑模控制
反演控制
有限时间控制
导弹尾翼
electric dynamic load simulator
permanent magnet synchronous motors
fast terminal sliding mode control
backstepping control
finite-time control
missile rudder
