中国海洋大学学报（自然科学版）2026，Vol.56Issue(10)：105-111,7.DOI:10.16441/j.cnki.hdxb.20250247
基于扩张状态观测器的焊缝对中速度滑模控制
Velocity Sliding Mode Control for Seam Tracking Based on Extended State Observer
摘要
Abstract
To address the problems of slow response,low accuracy,and weak disturbance rejection in the weld seam centering control system prior to steel pipemechanical expansion processing,this study proposed a sliding mode control(SMC)strategy with secondary compensation based on an extended state observer(ESO).First,an ESO was designed to perform lumped observation and real-time estimation of the inherent nonlinear friction and high-frequency periodic load disturbances in the system.Subsequent-ly,a dual-loop sliding mode speed controller based on the ESO was designed to achieve disturbance sup-pression and speed tracking.The stability of the closed-loop system was proven using Lyapunov stability theory.Experimental results showed that,compared with traditional methods,the proposed strategy significantly suppressed various disturbances and exhibited faster response speed,higher tracking accu-racy,and stronger robustness in weld seam centering control.关键词
焊缝对中/滑模控制/扩张状态观测器/鲁棒性/Lyapunov函数/双环补偿Key words
weld seam centering control/sliding mode control/extended state observer/robustness/Lyapunov function/double-loop compensation分类
信息技术与安全科学引用本文复制引用
熊少志,金永平,李潇..基于扩张状态观测器的焊缝对中速度滑模控制[J].中国海洋大学学报（自然科学版）,2026,56(10):105-111,7.基金项目
国家自然科学基金项目(52275106) （52275106）
湖南科技创新计划项目(2024AQ2031)资助Supported by the National Natural Science Foundation of China(52275106) （2024AQ2031）
the Hunan Science and Technology Innovation Plan(2024AQ2031) （2024AQ2031）
