【摘要】 针对高精度光电伺服稳定平台系统中摩擦和各种非线性干扰对跟踪精度的影响问题,提出了一种基于LuGre摩擦模型的积分型滑模自适应控制算法。首先建立了基于动态LuGre摩擦的伺服系统模型,根据LuGre模型,构造了一个非线性观测器来估计摩擦中的未知状态变量;然后设计积分型滑模自适应控制算法实现摩擦补偿和各种扰动的估计,通过设计最优的反馈控制律,保证了积分型滑模的收敛速度,并引入自适应思想设计滑模控制器,有效的减弱了滑模控制中的颤抖现象;最后利用Lyapunov理论证明了控制系统的稳定性。仿真结果表明:所提方法有效的抑制了摩擦等各种干扰对稳定平台系统的影响,在提高系统跟踪精度的同时增强了系统的鲁棒性能,该方法也简化了设计过程,具有一定的应用价值。更多还原

【Abstract】 In order to study the effect of the friction and the nonlinear disturbance in the high precision Opto-electronic( EO) servo-stabilized platform,this paper proposed a design method of an integral sliding mode control( SMC) with adaptive law is proposed. Frist,a servo model based on a dynamic LuGre friction was established. According to the LuGre model,a nonlinear observer was constructed to estimate the unknown state of the friction model. Then,an integral SMC with adaptive law was designed to realize the friction compensation and the disturbance estimation. By designing the feedback matrix,the convergence rate of the integral sliding mode is adjusted. And by introducing the adaptive idea in the design of SMC,the jitter phenomenon of SMC was decreased obviously. Final,the stability of the closed- loop system was proved by Lyapunov theory. Simulation results show that this method can inhibit the adverse effect of the friction,improves the robustness of system and tracking accuracy more effectively,and also simplifies the design process.更多还原