电动负载模拟器反演终端滑模控制

电动负载模拟器存在高阶非线性、参数时变以及多余力矩扰动，常规控制算法难以得到理想控制效果.本文提出一种反演设计的终端滑模控制策略.采用反演控制的思想，将加载系统划分为3个子系统，设计终端滑模控制律，并引入低通滤波器显著降低抖振，使跟踪误差在有限时间内收敛到0.利用Lyapunov方法证明闭环系统的渐进稳定性及有限时间收敛特性，实验结果表明所提出控制策略的有效性，与常规前馈反馈控制相比，加载控制精度有显著提升. 

Backstepping Terminal Sliding-Mode Control for Electric Dynamic Load Simulator

Owing to the interfere of higher order nonlinearity, parameters variability and surplus torque in electric dynamic load simulator(EDLS), it is hard to obtain satisfactory results by the traditional compensation algorithm. To overcome the deficiencies of the conventional control scheme for EDLS, a chattering free terminal sliding mode control scheme based on backstepping design was proposed. The EDLS model was divided into three subsystems and the control law was designed using chattering free terminal sliding mode to make the load tracking error converged to zero within finite time, which the switching control term was softened to be a smooth signal by a low-pass filter. Through Lyapunov stability analysis, it is shown that the control strategy guarantees the asymptotic stability and a finite time convergence of the closed-loop system. The experimental results show the effectiveness of the proposed control scheme. Compared with the traditional feedforward and feedback control strategy, the accuracy of the load torque tracking is improved significantly.