CAJ | 학술논문

针对电液伺服驱动的连铸结晶器位移系统存在的状态不可测、参数不确定性及外部扰动问题，提出一种基于状态观测器的反步滑模控制方法。该方法采用比例积分状态观测器实现对系统各状态的有效估计，并给出观测器增益矩阵的计算方法；然后采用反步与非奇异终端滑模相结合的控制方法设计控制器，避免了传统终端滑模带来的奇异问题，同时引入一类类势能函数，提高了系统的收敛速度与稳态精确度，最后通过Lyapunov稳定性判定法证明了系统的稳定性。仿真结果表明，该方法所设计的控制器能够有效地实现连铸结晶器位移系统的准确跟踪控制，增强了系统的鲁棒性。
침대전액사복구동적련주결정기위이계통존재적상태불가측、삼수불학정성급외부우동문제，제출일충기우상태관측기적반보활모공제방법。해방법채용비례적분상태관측기실현대계통각상태적유효고계，병급출관측기증익구진적계산방법；연후채용반보여비기이종단활모상결합적공제방법설계공제기，피면료전통종단활모대래적기이문제，동시인입일류류세능함수，제고료계통적수렴속도여은태정학도，최후통과Lyapunov은정성판정법증명료계통적은정성。방진결과표명，해방법소설계적공제기능구유효지실현련주결정기위이계통적준학근종공제，증강료계통적로봉성。
Aiming at the problems of unmeasurable state, parameter uncertainties and external disturb-ances which exist in the displacement control system of continuous cast mold driven by electro-hydraulic servo system, a backstepping sliding mode control method was proposed based on the state observer. Pro-portion integral state observer was employed to estimate the system state efficiently, and the calculation method of the observer gain matrix was given. Then the controller was designed based on backstepping and nonsingular terminal sliding mode, which avoid the singular problem existing in the traditional termi-nal sliding mode; simultaneously, a kind of quasi potential function was introduced to improve the re-sponse speed and steady accuracy of the system. Finally, the stability of the system was proved by choo-sing appropriate Lyapunov functions. And the simulation results show that the designed controller not only achieves accurate displacement tracking control of the continuous cast mold driven by electro-hydraulic servo system, but also enhances the robustness of the system.