基于干扰补偿和微分器的转台反演滑模控制

doi:10.16182/j.issn1004731x.joss.201804047

摘要/Abstract

摘要： 针对转台系统中存在的摩擦力矩、建模误差等不确定性,提出了一种基于非线性扩张状态观测器和微分器的反演滑模控制策略。将上述不确定性定义为复合干扰,采用非线性扩张状态观测器进行观测和实时补偿,减小了干扰对系统的影响;利用微分器估计系统的状态变量,避免了差分法引起的噪声放大问题,根据估计的状态设计反演滑模控制器,控制律的设计保证了系统的稳定性和鲁棒性,趋近律的改进以及干扰补偿有效降低了滑模引起的“抖振”。仿真结果表明,该控制策略提高了系统的控制性能和抗干扰性,可以实现转台的高精度控制。

关键词: 转台, 非线性扩张状态观测器, 干扰补偿, 微分器, 反演滑模控制

Abstract: Considering the uncertain factors in flight simulator servo system, such as friction torque and modeling error, a sliding backstepping mode control strategy based on the nonlinear extended state observer (NESO) and differentiator was put forward. The uncertain factors were defined as compound disturbances, and the NESO was used for observations in combination with real-time compensations that reduced impact on the system brought by disturbances. Differentiator was used to estimate the system state variables, hence preventing the noise amplifications caused by the difference method; law design came under the control of a sliding backstepping mode controller designed in accordance with the estimated state, ensuring the stability and robustness of the system. The chattering caused by sliding mode control was effectively reduced based on the improvement of approaching law and disturbance compensation. The simulation result indicates that this control strategy can realize high-precision control over flight simulator servo system due to its ability to improve the control performance and anti-interference performance of the system.

Key words: flight simulator, nonlinear extended state observer (NESO), interference compensation, differentiator, sliding backstepping mode control

中图分类号:

TP273

刘慧博, 刘尚磊. 基于干扰补偿和微分器的转台反演滑模控制[J]. 系统仿真学报, 2018, 30(4): 1593-1600.

Liu Huibo, Liu Shanglei. Sliding Backstepping Mode Control for Flight Simulator Servo Based on Disturbance Compensation and Differentiator[J]. Journal of System Simulation, 2018, 30(4): 1593-1600.

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