摘要
为了更好地测试舵机性能,提高加载系统的鲁棒性和稳定性,实现电动负载模拟器对信号精确跟踪,同时抑制多余力矩,提出高阶非线性自适应终端滑模控制策略,避免了参数变化和扰动对系统的影响。将舵机看作一个扰动输入,确立负载模拟器系统为双输入单输出非线性系统,建立负载模拟器非线性数学模型,并基于此模型提出自适应终端滑模控制策略。利用Lyapunov函数证明闭环系统的渐进稳定性及有限时间收敛特性。并通过Simulink仿真验证了此控制策略的有效性。结果表明:与普通滑模控制相比,自适应终端滑模控制方法跟踪精度更高,对多余力矩也起到了很好的抑制效果。
In order to better test the steering gear performance,improve the robustness and stability of the loading system,realize accurate signal tracking by the electric load simulator and suppress the excess torque,a high-order nonlinear adaptive terminal sliding mode control strategy was proposed in which parameter changes and disturbances effects were avoided.Considering the steering gear as a disturbance input,the load simulator system was established as a two-input single-output nonlinear system.The state equations of the load simulator and the nonlinear mathematical model were established.Based on this model,an adaptive terminal sliding mode control strategy was proposed.The Lyapunov function was used to prove the asymptotic stability and finite-time convergence of the closed-loop systems.The effectiveness of this control strategy was verified by Simulink simulation.The results show that compared with the ordinary sliding mode control,the tracking accuracy is higher and the residual torque is also well suppressed.
作者
马小勇
杨瑞峰
郭晨霞
葛双超
MA Xiaoyong;YANG Ruifeng;GUO Chenxia;GE Shuangchao(School of Instrument and Electronics,North University of China,Taiyuan Shanxi 030051,China;Automatic Test Equipment and System Engineering Research Center of Shanxi Province,Taiyuan Shanxi 030051,China)
出处
《机床与液压》
北大核心
2020年第8期171-174,共4页
Machine Tool & Hydraulics
基金
山西省科技攻关项目(201703D121028-2,201803D121058)。
关键词
电动负载模拟器
舵机
非线性
自适应终端滑模控制
Electric load simulator
Steering gear
Nonlinear
Adaptive terminal sliding mode control
