弹载电动舵机幂次滑模反演控制

针对高频响弹载电动舵机系统存在的齿隙非线性、参数时变、未知扰动等问题，提出一种幂次型快速Terminal滑模反演控制策略.设计连续可微函数逼近齿隙非线性环节的死区模型，建立拟合系统的状态空间模型并划分为3个子系统进行控制设计.采用反演控制思想设计快速幂次Terminal滑模控制器，内环采用直接转矩控制控制策略，提高响应速度.应用Lyapunov方法证明闭环系统跟踪误差的有限时间收敛特性，实现了对齿隙非线性的精确补偿.实验结果验证了所提出控制策略的有效性，与反演控制和PID控制策略相比，弹载电动舵机的控制精度、收敛速度及鲁棒性有显著提高. 

Backstepping Power Fast Terminal Siding Mode Control for Missile Borne Electric Rudder

In order to overcome the backlash nonlinearity, parameters variability and unknown disturbance for high response missile borne electric rudder servo, a backsteeping and power fast terminal siding mode (PFTSM) control algorithm was proposed. A continuously differentiable function zone model was designed to approximate backlash nonlinear. The state space model was formulated for the controller design as three subsystems. The power fast terminal siding mode controller was designed by using backstepping approaches. Direct torque control was applied to improve dynamic response for inner loop. Based on the Lyapunov stability analysis, it is shown that the proposed control strategy guarantees that asymptotic force tracking is achieved, all closed loop signals are ensured to be bounded. Experimental results show the effectiveness of the proposed method. Compared the PID and backtepping control, the precision, convergence speed and robustness are improved significantly for high response missile borne electric servo system.