CAJ | 학술논문

文章采用分层滑模控制方法设计了非线性运动控制器，采用各状态变量代替各误差项，给出了滑模面和控制律的设计方法。在切换函数中利用幂次函数的非线性特性来降低抖振。仿真结果表明，该控制器超调量小，且很好地抑制了抖振现象，说明此控制方法有效。
문장채용분층활모공제방법설계료비선성운동공제기，채용각상태변량대체각오차항，급출료활모면화공제률적설계방법。재절환함수중이용멱차함수적비선성특성래강저두진。방진결과표명，해공제기초조량소，차흔호지억제료두진현상，설명차공제방법유효。
A nonlinear motion controller is designed by using hierarchical sliding mode control (HSMC) method .T he design methods of sliding surface and control law are proposed by using state variable in-stead of error term .In switching function ,power function is selected to reduce chattering in view of its nonlinear characteristics .T he simulation results show that the controller has smaller overshoot and inhibits the chattering phenomenon well ,which proves that this control method is effective .