信息与控制2017，Vol.46Issue(6)：653-658,6.DOI:10.13976/j.cnki.xk.2017.0653
基于等价输入干扰估计的二阶滑模控制在转台中的应用
Application of Second-order Sliding Mode Control to the Turntable Based on Equivalent Input Disturbance Estimation
摘要
Abstract
In view of the nonlinear and time-varying characteristics of a flight simulation turntable servo system,we propose a high-order sliding mode control based on Lyapunov function.Its controller is based on the reach conditions.High-order sliding mode control is applied to variables,which have a discontinuous switching term of higher-order differential,thereby ensuring that the system achieves the strong robustness of the traditional first-order sliding mode control while reducing the chattering of sliding mode control.We use the equivalent input disturbance estimator to estimate the compensation error interference,thereby further improving the precision of the control system.The stability of the system is proved by Lyapunov stability theorem.Simulation results show that the design of the second-order sliding mode controller added to the EID estimator can effectively weaken the system's chattering problem,thereby improving the robustness of the system.关键词
高阶滑模控制/虚拟控制器/抖振抑制/等价输入干扰估计器/飞行仿真转台Key words
high-order sliding mode control/virtual controller/chattering inhibition/equivalent input disturbance estimator/flight simulation turntable分类
信息技术与安全科学引用本文复制引用
任彦,谭文博,赵冠华..基于等价输入干扰估计的二阶滑模控制在转台中的应用[J].信息与控制,2017,46(6):653-658,6.基金项目
国家自然科学基金资助项目(61563041) （61563041）
内蒙古自治区自然科学基金资助项目(2015MS0603) （2015MS0603）
