非奇异终端滑模控制仿真实验设计
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摘要
以二阶非线性系统为研究对象,采用非奇异终端滑模控制器进行控制。在非奇异终端滑模控制器的设计中,提出了一种变速指数趋近律。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软件建立了仿真实验系统,对提出的方法进行了仿真验证。采用变速指数趋近律时,状态变量的收敛速度更快。该仿真实验系统将理论学习和编程实现相结合,提高了学生学习的兴趣和积极性,激发学生的创新意识。
Taking the two-order nonlinear system as the research object,the nonsingular terminal sliding mode( TSM)controller is used to control the system. In the design of the TSM controller,the ordinary exponential reaching law is improved,and a kind of variable-rated exponential reaching law is proposed. The chattering phenomenon is suppressed by using the saturation function instead of the sign function. The simulation experiment system is established by using Matlab/Simulink software,and the proposed method is verified by simulation. The convergence rates of the state variables are faster when the variable-rate exponential reaching law is adopted. The simulation experiment system combines theoretical learning with programming. It can improve students' learning interest and enthusiasm and stimulate students' comprehensive innovation ability.
Taking the two-order nonlinear system as the research object,the nonsingular terminal sliding mode( TSM)controller is used to control the system. In the design of the TSM controller,the ordinary exponential reaching law is improved,and a kind of variable-rated exponential reaching law is proposed. The chattering phenomenon is suppressed by using the saturation function instead of the sign function. The simulation experiment system is established by using Matlab/Simulink software,and the proposed method is verified by simulation. The convergence rates of the state variables are faster when the variable-rate exponential reaching law is adopted. The simulation experiment system combines theoretical learning with programming. It can improve students' learning interest and enthusiasm and stimulate students' comprehensive innovation ability.
引文
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[11]吴爱国,刘海亭,董娜.机械臂神经网络非奇异快速终端滑模控制[J].农业机械学报,2018,49(2):395-404.
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[16]许波,朱熀秋.自适应非奇异终端滑模控制及其在BPMSM中的应用[J].控制与决策,2014,29(5):833-837.
[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]张巍巍,王京.基于指数趋近律的非奇异Terminal滑模控制[J].控制与决策,2012,27(6):909-913.
[4]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.
[5]李冀辰,高凤岐,王广龙,等.一类非线性系统的新型趋近律非奇异终端滑模控制[J].信息与控制,2014,43(1):96-100.
[6]华玉龙,孙伟,迟宝山,等.非奇异快速终端滑模控制[J].系统工程与电子技术,2017,39(5):1119-1125.
[7]孙继卫,刘秀敏,郭亚男.基于扰动观测器的永磁同步电机复合滑模控制[J].电气传动,2018,48(2):14-18.
[8]朱林峰,章伟.永磁同步电机自适应非奇异终端滑模控制[J].控制工程,2018,25(1):112-116.
[9]唐庆顺,金璐,李国栋,等.基于自适应终端滑模控制器的机械手跟踪控制[J].山东大学学报(工学版),2016,46(5):45-53.
[10]胡立坤,马文光,赵鹏飞,等.六自由度机械臂的非奇异快速终端滑模控制[J].吉林大学学报(工学版),2014,44(3):735-741.
[11]吴爱国,刘海亭,董娜.机械臂神经网络非奇异快速终端滑模控制[J].农业机械学报,2018,49(2):395-404.
[12]薛定宇.控制系统计算机辅助设计-Matlab语言与应用[M]. 3版.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]赵海滨. Matlab应用大全[M].北京:清华大学出版社,2012.
[15]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.
[16]许波,朱熀秋.自适应非奇异终端滑模控制及其在BPMSM中的应用[J].控制与决策,2014,29(5):833-837.