非线性摩擦干扰下的电动舵机滑模变结构控制
Sliding Mode Variable Structure Control for Electromechanical Actuator with Nonlinear Friction
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摘要: 针对电动舵机非线性摩擦干扰和传统滑模变结构控制高频抖振问题,设计了一个基于新型趋近律的滑模变结构控制器.仿真结果表明,所设计的控制器能很好地消除非线性摩擦所引起的低速“爬行”和“平顶”现象,并能有效降低抖振,改善动态品质.Abstract: For the nonlinear friction problem of electromechanical actuator and the high-frequency chattering phenomenon in traditional sliding mode controllers,a sliding mode variable structure controller based on a new reaching law is designed.Simulation results show that the presented controller can eliminate"creeping"and"flat-top"phenomena,decrease chattering phenomenon effectively,and improve the dynamic quality.