【作者】 张健； 孙鹤旭； 雷兆明； 梁涛；

【Author】 Zhang Jian 1,2,Sun Hexu1,Lei Zhaoming1,Liang Tao1 1.Institute of Automation,Hebei University of Technology,Tianjin 300130,P.R.China2.Department of Automation,Civil Aviation University of China,Tianjin 300300,P.R.China

【机构】 河北工业大学自动化研究所； 中国民航大学自动化系；

【摘要】 针对机电伺服系统存在扰动和系统参数摄动的情况,本文提出了一种带有干扰观测器的滑模控制器设计方法,同时给出了获得切换函数、增益和控制函数的方法,并用李雅普诺夫函数进行稳定性分析。通过该方法设计的滑模控制器可降低滑模切换增益,从而大大地降低了滑模控制的抖振,而且能快速补偿干扰。仿真结果表明,该方法具有较好的动态性能和鲁棒性,抑制抖振要比常规滑模控制方法好得多。更多还原

【Abstract】 In this paper,a design method of sliding controller with the disturbance observer is proposed for the existence of disturbance and parameter perturbation in electromechanical servo system,switch function,gain and control function are given,At the same time,stability analysis is made by means of the Lypunov function.The sliding controller designed by the method has a lower switch gain,so chattering of sliding mode is reduced greatly.Moreover,the disturbance is compensated quickly.Simulations verified that the proposed control method has the better dynamic performance and the robust capability,and also that it has a decided advantage over the conventional sliding control in the suppression of chattering.更多还原