基于Matlab/Simulink软件的滑模控制仿真实验
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摘要
以二阶非线性系统为研究对象设计滑模面,采用滑模控制器分别进行平衡控制和轨迹跟踪控制。在滑模控制器的设计中,采用指数趋近律,并利用Lyapunov理论证明了闭环系统的稳定性。在控制器中,采用饱和函数代替符号函数,对抖振现象进行抑制。采用Matlab/Simulink软件建立了滑模控制仿真实验系统,能够进行平衡控制和轨迹跟踪控制,并对实验结果进行了分析。
The sliding mode surface is designed for the second-order nonlinear system, and the sliding mode controller is used for balance control and trajectory tracking control respectively. In the design of sliding mode controller, exponential reaching law is adopted and the stability of the closed-loop system is proved by Lyapunov theory. In the controller, saturation function is used instead of sign function to suppress chattering. A sliding mode control simulation experiment system is established by using MATLAB/Simulink software, which can balance control and trajectory tracking control, and the experimental results are analyzed.
The sliding mode surface is designed for the second-order nonlinear system, and the sliding mode controller is used for balance control and trajectory tracking control respectively. In the design of sliding mode controller, exponential reaching law is adopted and the stability of the closed-loop system is proved by Lyapunov theory. In the controller, saturation function is used instead of sign function to suppress chattering. A sliding mode control simulation experiment system is established by using MATLAB/Simulink software, which can balance control and trajectory tracking control, and the experimental results are analyzed.
引文
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[2] 刘金琨.滑模变结构控制MATLAB仿真基本理论与设计方法[M].3版.北京:清华大学出版社,2015.
[3] 周涛,王磊.基于新型开关切换函数的机器人滑模控制[J].光电工程,2017,44(5):534-538,556.
[4] 高强,王晨光.基于模糊增益调整的双关节机械手滑模轨迹跟踪控制[J].实验室研究与探索,2012,31(11):78-81,110.
[5] 杨兴明,李文静.基于滑模控制器的四旋翼飞行器控制[J].合肥工业大学学报(自然科学版),2016,39(7):924-928.
[6] 曹靖,童朝南,胡敦利,等.基于Matlab/Simulink异步电机滑模控制系统仿真[J].北方工业大学学报,2015,27(1):42-50.
[7] 黄志,程小华.基于滑模变结构矢量控制的异步电机调速[J].电机与控制应用,2007,34(4):45-48.
[8] 刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3):407-418.
[9] HUANG S J,HUANG K S,CHIOU K C.Development and application of a novel radial basis function sliding mode controller[J].Mechatronics,2003,13(4):313-329.
[10] HA Q P,NGUYEN Q H,RYE D C,et al.Fuzzy sliding-mode controllers with applications[J].IEEE Transactions on Industrial Electronics,2001,48(1):38-46.
[11] 薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].2版.北京:清华大学出版社,2011.
[12] 赵海滨.MATLAB应用大全[M].北京:清华大学出版社,2012.
[13] 石良臣.MATLAB/Simulink系统仿真超级学习手册[M].北京:人民邮电出版社,2014.
[14] 高道祥,薛定宇.基于MATLAB/Simulink机器人鲁棒自适应控制系统仿真研究[J].系统仿真学报,2006,18(7):2022-2025.