| 基于扩展状态观测器的变结构控制及其应用 |
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| 引用本文： | 陈杰,靳添絮,白永强. 基于扩展状态观测器的变结构控制及其应用[J]. 北京理工大学学报, 2009, 29(4): 318-322 |
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| 作者姓名： | 陈杰 靳添絮 白永强 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京100081;北京理工大学,复杂系统智能控制与决策教育部重点实验室,北京100081 |
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| 摘 要： | 针对伺服系统中存在较强的外部干扰、非线性环节与大惯量特性,并为了满足快速、稳定、高精度的控制要求,利用自抗扰控制技术中扩展状态观测器补偿系统的不确定因素及高阶变量,将系统简化为积分串联型.基于简化后的模型用幂次趋近律设计控制律,得到了基于扩展状态观测器的变结构控制器.扩展状态观测器为系统未建模动态提供高频通路,在一定程度上消除了抖振.将此控制器应用于典型的伺服系统--火炮控制系统中,实验结果表明,相对于经典变结构控制器以及工程化PID控制器,此控制器的控制效果更好.
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| 关 键 词： | 扩展状态观测器 变结构控制 火炮控制系统 |
| 收稿时间： | 2008-06-26 |
A Variable Structure Controller Based on Extended State Observer in Gun Turret System |
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| CHEN Jie,JIN Tian-xu and BAI Yong-qiang. A Variable Structure Controller Based on Extended State Observer in Gun Turret System[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2009, 29(4): 318-322 |
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| Authors: | CHEN Jie JIN Tian-xu BAI Yong-qiang |
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| Affiliation: | 1.Department of Automatic Control;School of Information and Science;Beijing Institute of Technology;Beijing 100081;China;2.Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education;China |
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| Abstract: | Considering the characteristics of the servo system,such as disturbance,nonlinearity and high inertia,variable structure controller(VSC) based on extended state observers(ESO) are designed for the aim of quick,stable and high-accuracy controlling processes.The disturbances and high-order factors are estimated and compensated using ESO.Dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC.Because ESO provides a high-frequency path for the... |
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| Keywords: | extended state observer (ESO) variable structure control (VSC) gun turret system |
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