基于一阶低通滤波器滑模反步法的直流电机位置控制

针对直流电机位置控制系统在负载扰动情况下存在控制精度低、响应速度慢和鲁棒性差的问题,提出了基于一阶低通滤波器滑模反步法的直流电机位置跟踪控制算法.通过滑模反步法进行虚拟控制实现直流电机实际位置控制.利用一阶低通滤波器计算虚拟控制项的导数,消除微分膨胀,使控制器设计简单,但同时造成了相位滞后.通过前馈环节对一阶低通滤波器造成的相位滞后进行补偿.考虑位置跟踪、虚拟控制和滤波误差设计线性动态滑模面,改进滑模变结构控制律的切换控制项,提高滑模趋近速度,同时降低系统输出抖振.定义了Lyapunov函数,证明系统稳定性.仿真实验对比了比例积分微分(proportion integration differentid,PID)控制和传统滑模控制算法,结果表明,该方法能够快速、准确地跟踪给定位置信号,同时具有较好的鲁棒性.

Position control of DC-motor based on one-order low pass filter backstepping sliding mode method

The position control system of DC-motor has low control precision,low respond speed and poor robustness when the load disturbance occurs.In order to solve the problems, a position control method based on one-order low pass filter backstepping sliding mode is proposed.Real position control is realized by virtual control in the sliding mode backstepping method.The derivative of virtual control item is calculated by one-order low pass filter which removes differential expansion and makes it simple to design the controller.The phase lag caused by one-order low pass filter is compensated by feedforward.According to position trailing, virtual control and filtering error, linear dynamic surface is designed and the switching control item is improved to quicken the approach velocity and reduce chattering.The stability of the system is demonstrated by Lyapunov stability theory.Compared to PID control and traditional sliding mode control, the simulation result shows that the method has good robustness and can track the position signal quickly and accurately.