CAJ | 학술논문

应用变结构控制策略时,由于系统存在时间滞后、空间滞后、死区等不利条件,会导致系统运行到相平面中滑动面时出现不期望的抖振现象.本文分析了抖振对系统性能的影响及产生原因,针对伺服控制系统存在随机干扰和随机噪声的特性,提出一种基于卡尔曼滤波的指数趋近律滑模变结构控制算法,很好地抑制了抖振.仿真算例表明,与普通滑模控制算法相比,基于该算法的控制器无论在抖振抑制上还是在伺服系统动态品质改善上都具有良好效果.
응용변결구공제책략시,유우계통존재시간체후、공간체후、사구등불리조건,회도치계통운행도상평면중활동면시출현불기망적두진현상.본문분석료두진대계통성능적영향급산생원인,침대사복공제계통존재수궤간우화수궤조성적특성,제출일충기우잡이만려파적지수추근률활모변결구공제산법,흔호지억제료두진.방진산례표명,여보통활모공제산법상비,기우해산법적공제기무론재두진억제상환시재사복계통동태품질개선상도구유량호효과.
While applying Sliding Mode Control (SMC) algorithm, the time and space delay and dead zone may cause the unexpected output vibration in actual controller design. In this paper, the damage to actual system and the causes of its existence are analyzed. Considering the inherent random disturbance and noise in servo system, a SMC algorithm with exponent approach law based on Kalman filtering is proposed. The simulation shows that compared with common sliding mode algorithm, the new algorithm can not only suppress the vibration but improve the dynamic quality of servo system.