论文部分内容阅读
本文采用离散滑模变结构控制方案，提出了一种新型PI调节器设计方案，给出了离散滑模变结构PI调节器滑模存在条件及调节器设计方案。理论分析和仿真结果表明，该调节器使对象具有良好的鲁棒性和性能指标，能消除持续恒定干扰造成的静态偏差。控制器输出切换极小，为快速的运动控制提供了一种新方案。
In this paper, a discrete sliding mode variable structure control scheme is proposed, and a new design scheme of PI regulator is proposed. The existence conditions of the sliding mode controller with discrete sliding mode variable structure PI controller and the design scheme of the regulator are given. The theoretical analysis and simulation results show that the controller can make the object have good robustness and performance, and can eliminate the static deviation caused by constant constant disturbance. Controller output switching is minimal, providing a new solution for fast motion control.