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为了削弱经典滑模变结构控制系统的抖振、简化二阶滑模变结构控制器的计算过程,提出了一个二阶滑模变结构控制系统的滑模到达条件.运用李雅普诺夫稳定性理论和常微分方程理论,得到了控制系统在该到达条件下的两个结果:系统相轨迹能实现在有限时间内收敛于滑动模态,控制系统具有较好的鲁棒性.最后通过该到达条件设计了系统的变结构控制器.仿真结果表明该到达条件能有效抑制系统抖振,并且具有良好的鲁棒性.
In order to weaken the chattering of the classical sliding mode variable structure control system and simplify the calculation process of the second order sliding mode variable structure controller, a sliding mode arrival condition for a sliding mode variable structure control system is proposed. By using the Lyapunov stability theory And the theory of ordinary differential equations, two results of the control system under the condition of arrival are obtained: the system phase trajectory can converge to the sliding mode within a finite time, and the control system has good robustness.Finally, The variable structure controller of the system is designed.The simulation results show that the arrival condition can effectively suppress the chattering of the system and has good robustness.