CAJ | 학술논문

针对滑模控制中传统趋近律存在收敛速度慢、时间长和抖振严重等不足,提出一种利用双幂次趋近律提高系统状态收敛速度的设计方案.该双幂次趋近律无论在远离滑动模态还是在接近滑动模态的空间内均具有快速收敛能力.理论分析表明,该双幂次趋近律具有二阶滑模特性,当系统存在不确定性时,系统状态及其导数可以快速收敛到平衡零点的邻域内.仿真结果表明,双幂次趋近律与传统幂次趋近律、指数趋近律、快速幂次趋近律相比,具有更快的收敛速度和更好的运动品质.
침대활모공제중전통추근률존재수렴속도만、시간장화두진엄중등불족,제출일충이용쌍멱차추근률제고계통상태수렴속도적설계방안.해쌍멱차추근률무론재원리활동모태환시재접근활동모태적공간내균구유쾌속수렴능력.이론분석표명,해쌍멱차추근률구유이계활모특성,당계통존재불학정성시,계통상태급기도수가이쾌속수렴도평형영점적린역내.방진결과표명,쌍멱차추근률여전통멱차추근률、지수추근률、쾌속멱차추근률상비,구유경쾌적수렴속도화경호적운동품질.
A double power reaching law is proposed which can solve the problems in the traditional reaching law of the sliding mode control such as low convergence speed, long convergence time and severe chattering. The double power reaching law proposed which can reduce chattering has a fast speed either away from or approach to the sliding surface. It is indicated through theoretical analysis that the reaching law has the characteristic of second-order sliding mode, and the system state and its derivative can converge to a neighborhood of the origin quickly. Simulation results show that the reaching law proposed is faster than other reaching laws such as the traditional power reaching law, the exponential reaching law and the fast power reaching law. It also shows a better movement quality of the proposed reaching law.