超磁致伸缩执行器自适应离散滑模控制

超磁致伸缩材料具有滞回和本构强非线性特性,由其制成的微位移执行器的快速、精确控制问题亟待解决。分别应用均质能量场模型和粘弹性分布参数系统模型建立磁化模型和动力学模型,采用模型参考前馈逆补偿的方法,在控制过程中使用卡尔曼自适应滤波器降低干扰,对执行器实施离散滑模变结构控制。利用指数趋近率设计了自适应离散滑模变结构控制率,使控制系统的抖振幅度正比于切换函数,加快趋近滑模面速度,减小抖振。对所设计的控制率进行了的抖振分析并证明了其稳定性。在MatlabR2006a上进行了仿真,仿真结果表明所设计的控制率能够快速的收敛到滑模面,抖振幅度很小,能够很好的追踪输入轨迹。

Simulation Research of Adaptive Discrete Sliding Control System for Magnetostrictive Actuator

Giant magnetostrictive material has the characteristics of hysteresis and strong constitutive nonlinearity. It's urgent for the actuator composed of it to solve the fast and accurate control problem. Employing the Homogeneity energy model as magnetization model,utilizing the viscoelasticity distributive parameters system model as dynamics model and placing an model-based inverse filter before the system to compensate the hysteresis and an adaptive Kalman filter after the plant to diminish the external disturbance,the adaptive discrete sliding variable structure control on the plant designed was implemented by exponential reaching law method. The system chattering amplitude is proportional to the switching function. so that it increases the reaching speed to the sliding surface and reduces the chattering amplitude. The chattering amplitude and the stability of the control law were analyzed. Meanwhile,the control problem in the MatlabR2006a was simulated. The result shows that the control law can converge quickly to the sliding surface,and the actuator can trace the reference trajectory well.