摘要
为提升在模型不确定性以及干扰条件下伺服电机的控制效果,提出了一种基于鲁棒滑模策略的改进内模控制器设计方法。该控制方法综合了内模控制简单直观性与滑模控制的鲁棒性,将基于滑模控制技术的鲁棒控制律引入到内模控制策略中,可以降低控制器对模型不确定的敏感性,增强了其抗干扰能力。此外,二自由度增强型内模控制可以进一步减小未知扰动的影响。在不同的条件下通过仿真和实验结果分析可知所提出的控制器具有更好的瞬态跟踪性能和更高的稳态跟踪精度,而且对于不确定性和扰动具备更强的鲁棒性。
In order to improve the control effect of servo motor under model uncertainty and disturbance,an improved internal model controller design method based on robust sliding mode strategy was proposed.The control method combines the simplicity,intuition and robustness of sliding mode control.The robust control law based on sliding mode control technology is introduced into the internal model control strategy,which can reduce the sensitivity of the controller to model uncertainties and enhance its anti-interference ability.In addition,two-degree-of-freedom enhanced internal model control can further reduce the impact of unknown disturbances.Under different conditions,the simulation and experimental results show that the proposed controller has better transient tracking performance,higher steady-state tracking accuracy,and stronger robustness to uncertainties and disturbances.
作者
陈凯镔
徐俊
陶沙沙
王从明
余冬
CHEN Kaibin;XU Jun;TAO Shasha;WANG Congming;YU Dong(Department of Automobile, Chengdu Industrial Vocational and Technical College,Chengdu 610000,China;College of Mechanical Engineering,Xi’an Jiaotong University, Xian 710038,China;Chengdu Petrochemical Industrial School, Chengdu 610000,China)
出处
《微电机》
北大核心
2020年第7期25-32,共8页
Micromotors
基金
国家自然科学基金资助项目(51405374)
四川省教育厅人文社会科学重点研究基地统筹城乡教育发展研究中心科研项目(TCCXJY-2017-B10)。
关键词
内模控制
鲁棒性
滑模控制
伺服电机
不确定性
internal model control
robustness
sliding mode control
servo motor
uncertainty
