高精度机械伺服系统的一种新型自适应滑模控制方法

Novel adaptive sliding mode control scheme of high precision mechanical servo system

中文关键词  自适应  滑模  控制  转台

英文关键词  adaptive  sliding mode  control  flight motion simulator

中文摘要

      针对高精度机械伺服系统,提出一种高性能的新型自适应滑模控制方法,使闭环系统渐近跟踪给定的参考模型.该方法对转动惯量的大范围变化及非线性摩擦等外干扰均具有很强的鲁棒性.该方法的主要思想是用滑模方法抑制系统中的外部力矩扰动,对系统参数进行自适应估计,用估计值来补偿转动惯量的变化.对于控制算法的全局稳定性,采用李雅普诺夫直接法给出了严格的证明.该算法简单,其实现不需要误差的高阶微分信号,适于实时控制.本文方法以某高精度飞行仿真转台为例,对提出方法进行了实验研究,结果表明了该方法具有良好的跟踪性能,暂态响应和鲁棒性.

英文摘要

      This paper presents a novel high-performance adaptive sliding mode control scheme for high precision mechanical servo systems to asymptotically track a specified reference model. The proposed scheme has a strong robustness to the inertia change in a large range and to the external disturbance such as nonlinear friction. The key idea of the scheme is that the external disturbances are suppressed by using the sliding mode method and the change in the rotational inertia is compensated with the help of adaptive estimation for parameters. The global stability of the algorithm is proved by the Lyapunov' s direct method. Since the proposed algorithm is simple and does not need for any high order differential signal of the angular position, it is suitable for real-time control. The method is applied to a high precision flight motion simulator, and the experimental result shows that the proposed approach has the good tracking performance, transient response, and robustness.