《计算机应用研究》|Application Research of Computers

带饱和函数的幂次新型滑模趋近律设计与分析

Novel power reaching law with saturation function of sliding mode control design and analysis

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作者 李蒙蒙,叶洪涛,罗文广
机构 广西科技大学 a.电气与信息工程学院;b.广西汽车零部件与整车技术重点实验室,广西 柳州 545006
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文章编号 1001-3695(2019)05-025-1400-03
DOI 10.19734/j.issn.1001-3695.2017.12.0817
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。
关键词 滑模控制; 趋近律; 抖振; 收敛速度; 名义模型
基金项目 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)
本文URL http://www.arocmag.com/article/01-2019-05-025.html
英文标题 Novel power reaching law with saturation function of sliding mode control design and analysis
作者英文名 Li Mengmeng, Ye Hongtao, Luo Wenguang
机构英文名 a.School of Electrical & Information Engineering,b.Guangxi Key Laboratory of Automobile Components & Vehicle Technology,Guangxi University of Science & Technology,Liuzhou Guangxi 545006,China
英文摘要 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.
英文关键词 sliding mode control; reaching law; chattering; convergence speed; nominal model
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收稿日期 2017/12/27
修回日期 2018/2/8
页码 1400-1402,1414
中图分类号 TP273.2
文献标志码 A