基于摩擦和干扰补偿的转台模糊反演滑模控制

doi:10.16182/j.issn1004731x.joss.201803053

摘要/Abstract

摘要： 针对转台中的摩擦、建模误差等不确定性,采用基于摩擦模型和非线性干扰观测器相结合的补偿策略。首先对摩擦进行建模并通过遗传算法辨识模型参数,利用辨识的模型进行补偿;其次使用非线性干扰观测器对建模误差、摩擦的欠、过补偿等扰动进行估计,利用估计值做进一步补偿。采用反演滑模控制器,保证了系统的稳定性;利用模糊算法调整滑模控制的切换增益以降低“抖振”。仿真结果表明,该方法降低了摩擦等不确定性对系统的影响,减弱了滑模引起的“抖振”,提高了系统的控制精度及抗干扰性。

关键词: 转台, 摩擦补偿, 非线性干扰观测器, 遗传算法, 模糊算法, 反演滑模控制

Abstract: Considering friction, modeling errors and other uncertainties of flight simulator servo system, a compensation strategy which combines model-based friction compensation with nonlinear disturbance observer compensation was proposed. First, the friction is modeled , whose parameters are identified by using genetic algorithm, and using the identified model to compensate. Second, using a nonlinear disturbance observer to estimate the modeling errors, friction less-compensation or over-compensation and other uncertainties, and using this observed value to compensate. The system adopted sliding backstepping controller to ensure the stabilization of the system. Finally, the fuzzy algorithm is adopted to adjust the switching gain of sliding mode to reduce the chattering of the system. The simulation results show the method can reduce the influence of friction and modeling errors and other uncertainties, weakened the chattering caused by sliding mode, improved the control precision and anti-interference of the system.

Key words: flight simulator, friction compensation, nonlinear disturbance observer, genetic algorithm, fuzzy algorithm, sliding backstepping mode control

中图分类号:

TP273

刘慧博, 刘尚磊. 基于摩擦和干扰补偿的转台模糊反演滑模控制[J]. 系统仿真学报, 2018, 30(3): 1195-1203.

Liu Huibo, Liu Shanglei. Fuzzy Sliding Backstepping Mode Control for Flight Simulator Servo Based on Friction and Disturbance Compensation[J]. Journal of System Simulation, 2018, 30(3): 1195-1203.

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