【作者】 薛亮儒； 王少萍； 石健； 赵四军； 孙方红；

【Author】 XUE Liangru WANG Shaoping SHI Jian ZHAO Sijun SUN Fanghong (1.School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083; 2. CATIC Guangzhou, Guangzhou 510080, China)

【机构】 北京航空航天大学自动化科学与电气工程学院； 中航技广州分公司；

【摘要】 针对激振试验台作动器的模型参数不确定性和存在较强外干扰的情况下,基于动态滑模变结构控制策略,研究了一类带有参数不确定项的非线性系统的变结构控制问题。分析了在参数不确定性和未知扰动下的三阶非线性系统的输出调节问题,证明了基于李亚普诺夫稳定性理论意义下的动态滑模变结构控制律的稳定性,该控制律能使激振台作动器较好的稳定在初始状态,保证了系统对外部扰动和参数不确定性的不敏感性。最后仿真证明,该控制律对外干扰的抑制效果明显比PID控制律要好。更多还原

【Abstract】 Because of the external disturbances and parameter uncertainties in the vibration table actuators, the problem of variable structure control of nonlinear systems in the existence of parameter perturbations was studied based on dynamic-varying sliding mode variable structure control technique. A new method of time-varying sliding mode variable structure control for nonlinear uncertain systems was presented and the regulation problem subject to uncertain disturbances was analyzed. A kind of dynamic -varying sliding mode variable structure control law was developed in the Lyapunov sense that guarantees the system state convergence to initial state. Insensitivity of the system to external disturbances and parameter uncertainties is guaranteed by the proposed control action. The simulation results of the system are showed at the end of the text that the result of this method is better than the method of PID control method.更多还原