CAJ | 학술논문

为解决电动缸伺服控制中的扰动问题，给出了一般输出反馈系统的滑模变结构控制趋近律设计的通用方程，在理论上解决了抖振的问题；并提出一种基于新型变速类指数趋近律的滑模变结构控制与干扰观测器的复合控制方法。仿真结果表明，该方法比常规的PID或滑模变结构控制的位置伺服精度更高。
위해결전동항사복공제중적우동문제，급출료일반수출반궤계통적활모변결구공제추근률설계적통용방정，재이론상해결료두진적문제；병제출일충기우신형변속류지수추근률적활모변결구공제여간우관측기적복합공제방법。방진결과표명，해방법비상규적PID혹활모변결구공제적위치사복정도경고。
To solve the problem about load disturbance, a general function of sliding mode control based on reaching law is proposed, which can eliminate system chattering; then a composite controller based on sliding mode control and disturbance observer is proposed. The simulations reveal that the servo-precision of the method proposed is better than general PID and sliding mode control.