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一种基于特征模型的自适应离散滑模控制

钟华, 潘金文, 王永

钟华, 潘金文, 王永. 一种基于特征模型的自适应离散滑模控制[J]. 信息与控制, 2015, 44(1): 56-61. DOI: 10.13976/j.cnki.xk.2015.0056
引用本文: 钟华, 潘金文, 王永. 一种基于特征模型的自适应离散滑模控制[J]. 信息与控制, 2015, 44(1): 56-61. DOI: 10.13976/j.cnki.xk.2015.0056
ZHONG Hua, PAN Jinwen, WANG Yong. Characteristic Model-based Adaptive Discrete-time Sliding Mode Control[J]. INFORMATION AND CONTROL, 2015, 44(1): 56-61. DOI: 10.13976/j.cnki.xk.2015.0056
Citation: ZHONG Hua, PAN Jinwen, WANG Yong. Characteristic Model-based Adaptive Discrete-time Sliding Mode Control[J]. INFORMATION AND CONTROL, 2015, 44(1): 56-61. DOI: 10.13976/j.cnki.xk.2015.0056
钟华, 潘金文, 王永. 一种基于特征模型的自适应离散滑模控制[J]. 信息与控制, 2015, 44(1): 56-61. CSTR: 32166.14.xk.2015.0056
引用本文: 钟华, 潘金文, 王永. 一种基于特征模型的自适应离散滑模控制[J]. 信息与控制, 2015, 44(1): 56-61. CSTR: 32166.14.xk.2015.0056
ZHONG Hua, PAN Jinwen, WANG Yong. Characteristic Model-based Adaptive Discrete-time Sliding Mode Control[J]. INFORMATION AND CONTROL, 2015, 44(1): 56-61. CSTR: 32166.14.xk.2015.0056
Citation: ZHONG Hua, PAN Jinwen, WANG Yong. Characteristic Model-based Adaptive Discrete-time Sliding Mode Control[J]. INFORMATION AND CONTROL, 2015, 44(1): 56-61. CSTR: 32166.14.xk.2015.0056

一种基于特征模型的自适应离散滑模控制

基金项目: 国家自然科学基金资助项目(61004017);中央高校基本科研业务费专项资金资助项目(WK2100100016)
详细信息
    作者简介:

    钟 华(1989-),男,硕士生. 研究领域为智能控制理论等.
    潘金文(1989-),男,博士生. 研究领域为特征建模理论等.
    王 永(1962-),男,博士,教授. 研究领域为振动主动控制,飞行器制导与控制,机器人控制等.

    通讯作者:

    王永,yongwang@ustc.edu.cn

  • 中图分类号: TP273

Characteristic Model-based Adaptive Discrete-time Sliding Mode Control

  • 摘要: 针对刚柔耦合系统建模复杂且所建模型阶次较高的问题,本文采用特征建模理论来简化建模过程.考虑到刚柔耦合系统的不确定性,在特征建模理论的基础上,提出了一种基于PID(proportional integral derivative)滑模面的自适应离散滑模控制器.该控制器不仅可以实现中心刚体角位移快速跟踪,同时可以快速抑制柔性部件的振动.物理实验结果表明,与常规PI(proportional integral)和模糊PI控制相比,角位移跟踪超调更小,柔性梁的振动抑制效果更明显.
    Abstract: Considering the high order and model complexity for rigid-flexible couple system,character modeling theory is used to simplify the modeling process. In addition,considering the system's uncertainties,a characteristic model-based adaptive discrete-time sliding mode control with proportional integral derivative (PID) sliding surface is proposed. With this controller,the system can track the angular displacement of the center rigid rapidly and suppress the vibration of flexible parts soon. Compared with the traditional PI (proportional integraal) and fuzzy PI,the results of physical experiments show that angular displacement tracking has smaller overshot and better suppression effect for the vibration of flexible beams with the proposed control.
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出版历程
  • 收稿日期:  2013-11-17
  • 发布日期:  2015-02-19

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