中南大学学报（自然科学版）2017，Vol.48Issue(9)：2370-2375,6.DOI:10.11817/j.issn.1672-7207.2017.09.016
基于Kalman滤波的力矩电机直驱转台系统数字滑模控制
Digital sliding mode control of direct drive rotary table servo systems of torque motor based on Kalman filter
摘要
Abstract
Focused on the problems of measurement noise and process noise existing in the servo system of torque motor direct drive rotary table, Kalman filter based digital sliding mode control strategy was presented. Firstly, considering that computers were used in most of the control method for servo systems, the mathematical model of the torque motor servo system was discretized. Then, soft switch sliding mode control with exponential reaching law was designed. Finally, the output signals of the designed controller and system with noises were passed through the Kalman filter, and the final output signal was obtained. The simulation results show that the proposed system with the proposed method has strong robustness with noise and high tracking performance.关键词
力矩电机/直驱转台/数字滑模/Kalman滤波器Key words
torque motor/direct drive rotary table/digital sliding mode/Kalman filter分类
信息技术与安全科学引用本文复制引用
刘建林,施大发,罗德荣..基于Kalman滤波的力矩电机直驱转台系统数字滑模控制[J].中南大学学报（自然科学版）,2017,48(9):2370-2375,6.基金项目
国家自然科学基金资助项目(51577052) （51577052）
湖南省教育厅科技项目(16C0571) (Project(51577052) supported by the National Natural Science Foundation of China （16C0571）
Project(16C0571) supported by Education Department of Science and Technology Project of Hunan Province) （16C0571）
