【摘要】 针对影响大惯量负载系统工作性能和稳定性的非线性因素——传动间隙，结合扩张状态观测器，提出了一种自适应滑模控制方法，对其运行过程中存在的传动间隙进行补偿。引入死区模型来描述大惯量负载系统传动间隙的基本特征，利用扩张状态观测器对大惯量负载系统模型进行修正，采用自适应滑模控制方法对大惯量负载系统传动刚度等参数的不确定性进行处理，通过仿真对比验证自适应滑模控制方法的有效性。结果表明，所设计的自适应滑模控制方法能够对大惯量负载系统传动间隙进行有效补偿。更多还原

【Abstract】 To address the negative impact of non-linear factor transmission clearance on the performance and stability of a large inertia load system, an adaptive sliding mode control method is suggested that uses the expansion state observer to counter the transmission clearance during operation. A dead zone model is introduced to describe the basic characteristics of the transmission clearance of the large inertia load system, and the model of the large inertia load system is modified by the expansion state observer. The adaptive sliding mode control method is used to handle the uncertainties of the transmission stiffness and other parameters of the large inertia load system. The effectiveness of the adaptive sliding mode control method is verified by simulation comparison. The findings indicate that the adaptive sliding mode control method proposed can adequately offset the transmission clearance in the large inertia load system and provides a theoretical foundation for enhancing the control precision and stability of the system.更多还原