起竖系统建模及动态面自适应滑模控制

针对起竖系统存在非线性特性、参数不确定性以及环境干扰等问题，在起竖系统的起竖控制过程中，提出了一种动态面自适应滑模的控制策略。建立了起竖系统的非线性数学模型，在滑模控制器设计中，引入动态面控制，利用一阶积分滤波器来计算虚拟控制项的导数，使控制器设计简单，加入自适应控制算法，实现对不确定参数的在线估计，消除系统的不确定性，并给出了控制律和自适应律。仿真结果表明，与比例积分微分控制和一般滑模控制相比，所提控制方法有较强的鲁棒性和良好的跟踪性能，提高了起竖过程的稳定性。

Modeling and dynamic surface adaptive sliding mode control of erecting mechanism

In order to overcome the nonlinear characteristics, parameter uncertainties and circumstance disturbances that exist in the control of mechanism erecting, a dynamic surface adaptive sliding mode control method is proposed. The nonlinear mathematic model of erecting system is built at first. Then the dynamic surface control which using first integral filter to evaluate the derivative of virtual control item is introduced to simplify the controller designing. Furthermore, the adaptive law which estimates the uncertainty parameters online is applied to eliminate the system uncertainties. And control law and adaptive law are presented. The simulation results show that compared with the proportion integral derivative controller and conventional sliding mode controller, the proposed control method has better robustness and more accurate tracking ability, and the stability of the erecting process is improved.