CAJ | 학술논문

针对实际系统运行过程中所存在的转动惯量和负载力矩变化大等各种不确定因素，提出了一种新型的自适应反步滑模位置控制器（ABSMC）。首先对于模型中的不确定参数，采用自适应鲁棒算法进行有效估计，通过对模型的等价变换和选择适当的Lyapunov函数，最终给出系统的自适应控制器和不确定参数自适应律的设计方法。仿真和实验结果表明，该控制器能够有效抑制抖振，系统跟踪误差小，跟踪性能好，对参数摄动及外界负载扰动具有较强的鲁棒性。
침대실제계통운행과정중소존재적전동관량화부재력구변화대등각충불학정인소，제출료일충신형적자괄응반보활모위치공제기（ABSMC）。수선대우모형중적불학정삼수，채용자괄응로봉산법진행유효고계，통과대모형적등개변환화선택괄당적Lyapunov함수，최종급출계통적자괄응공제기화불학정삼수자괄응률적설계방법。방진화실험결과표명，해공제기능구유효억제두진，계통근종오차소，근종성능호，대삼수섭동급외계부재우동구유교강적로봉성。
Aiming at wide variations in moment of inertia,large disturbed moment of a rocket launcher position servo system,a adaptive robust controller based on dynamic filtering method (ABSMC) is presented. A estimation algorithm is adopted to tackle model uncertainties,and model uncertainties are compensated by combining a robust adaptive method. Besides,the controller and adaptation laws for uncertain parameters are presented by selecting both the equivalent model transformation and a proper Lyapunov function. The simulation and experimentation results show that the proposed approach can eliminate chattering problem effectively,guarantee the response speed and control accuracy,and possess a strong robustness to both parameter perturbation and load disturbance to the adaptive backstepping sliding mode controller(ABSMC).