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用传统到达条件综合而成的滑模控制系统不能保证所有出发于滑动模态邻域的相轨线都能直接到达邻近的滑动模态分支,导致状态转移过程超调,这对于某些控制工程是不允许的.为使滑模控制过程单向收敛,提出了直达滑模控制方法.通过对传统到达条件表述中的不足的分析,介绍了直达函数的定义和直达条件的建立.直达条件是用直达滑模控制法综合滑模控制系统的依据.直达滑模控制系统由指令模态及开关型直达滑模控制组成.与传统到达条件不同,满足直达条件的控制,可保证所有出发于滑动模态邻域的相轨线都能直接到达邻近的滑动模态分支,沿滑动模态趋向零态,状态转移过程快速而无超调.将直达滑模控制应用于示例系统并进行仿真,仿真结果符合对直达滑模控制性能的预期.
The sliding mode control system integrated with traditional arrival conditions can not guarantee that all the phase trajectories starting from the sliding mode neighborhood can directly reach the adjacent sliding mode branches, resulting in overshoot of the state transition process. For some control engineering Is not allowed.In order to make the sliding mode control process unidirectionally convergent, a direct sliding mode control method is proposed.Through the analysis of the shortcomings in the traditional expression of the arrival condition, the definition of the direct function and the establishment of the direct condition are introduced.The direct condition is The direct sliding mode control system is composed of command mode and switch-mode direct sliding mode control, which is based on the direct sliding mode control method which integrates the sliding mode control system.Different from the traditional arrival conditions, the control which satisfies the direct conditions can guarantee that all the sliding modes The phase orbit of the modal neighborhood can directly reach the adjacent sliding modal branches, the sliding mode tends to zero state, the state transition process is fast without overshoot. The direct sliding mode control is applied to the example system and simulated The result is in line with the expectation of direct sliding mode control performance.