| 交流伺服系统自适应反演滑模控制器设计 |
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| 引用本文： | 郭亚军,马大为,王晓锋,乐贵高.交流伺服系统自适应反演滑模控制器设计[J].北京理工大学学报,2010(S1):99-102. |
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| 作者姓名： | 郭亚军 马大为 王晓锋 乐贵高 |
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| 作者单位： | 南京理工大学 机械工程学院, 江苏,南京 210094;南京理工大学 机械工程学院, 江苏,南京 210094;南京理工大学 机械工程学院, 江苏,南京 210094;南京理工大学 机械工程学院, 江苏,南京 210094 |
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| 基金项目： | 国防基础科研资助项目(A2620061288) |
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| 摘 要： | 针对火箭炮交流伺服系统中存在的转动惯量及负载力矩变化大、冲击力矩强等特性,提出了一种自适应反演滑模控制方法. 该方法通过选择适当的Lyapunov函数保证了系统的稳定性,自适应反演控制率渐近跟踪被控对象的参考位置信号,滑模控制抑制了参数摄动及负载扰动. 理论及仿真研究结果表明,该控制器不仅能够保证系统的响应速度和控制精度,而且具有较强的鲁棒性.
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| 关 键 词： | 火箭炮 PID控制 自适应反演滑模 交流伺服系统 |
| 收稿时间： | 2010/3/30 0:00:00 |
Design of Adaptive Backstepping Sliding Mode Controller in Alternating Current Servo System |
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| GUO Ya-jun,MA Da-wei,WANG Xiao-feng and LE Gui-gao.Design of Adaptive Backstepping Sliding Mode Controller in Alternating Current Servo System[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010(S1):99-102. |
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| Authors: | GUO Ya-jun MA Da-wei WANG Xiao-feng and LE Gui-gao |
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| Institution: | School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China;School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China;School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China;School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China |
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| Abstract: | Aiming at the characteristics of the varied inertia moment and load moment, and strong impact moment, adaptive backstepping sliding mode control approach is presented. By selecting the proper Lyapunov function, the stability of the drive system can be guaranteed. Adaptive backstepping control law progressive track the reference position signal of controlled device, and sliding mode control can restrain effects of parameter uncertainties and external disturbance. Simulation and theoretical results show that the controller can guarantee the response speed and accuracy, and possesses a strong robustness. |
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| Keywords: | rocket launcher PID control adaptive backstepping sliding mode alternating current servo system |
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