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提出了一种基于滑模干扰观测器(SMDO)的滑模控制器(SMC)设计方法。针对一类级联多输入多输出(MI-MO)非线性系统,根据奇异摄动原理将其分为内、外回路分别进行控制器设计。以外回路为例,分析了传统基于饱和函数的滑模控制的鲁棒性,针对其在面临干扰时鲁棒性较差的问题,在名义滑模控制律的基础上设计了基于超扭曲算法的SMDO以实现对干扰的估计和补偿。将该方法应用于导弹控制系统的设计中,通过仿真表明,基于SMDO的滑模控制器(SMDO-SMC)有效提高了控制系统的鲁棒性和性能。
A sliding mode controller (SMC) design method based on sliding mode disturbance observer (SMDO) is proposed. For a class of cascade multiple input multiple output (MI-MO) nonlinear systems, according to the principle of singular perturbation, it is divided into inner and outer loops to design controller respectively. Taking the external loop as an example, the robustness of the traditional sliding mode control based on the saturation function is analyzed. In view of the problem of poor robustness in the face of interference, the super-warping algorithm is designed based on the nominal sliding mode control law SMDO to achieve interference estimation and compensation. The method is applied to the design of missile control system. The simulation shows that SMDO-SMC based on SMDO effectively improves the robustness and performance of the control system.