[1]吴黎明,韩丰田,侯伯杰..静电悬浮系统的离散滑模控制[J].郑州大学学报(工学版),2004,25(03):109-112.[doi:10.3969/j.issn.1671-6833.2004.03.027]
　Wu Liming,Han Toyota,Berger Hou.Discrete sliding mode control for electrostatic levitation systems[J].Journal of Zhengzhou University (Engineering Science),2004,25(03):109-112.[doi:10.3969/j.issn.1671-6833.2004.03.027]

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静电悬浮系统的离散滑模控制()

分享到：

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:

25

期数:

2004年03期

页码:

109-112

栏目:

出版日期:

1900-01-01

文章信息/Info

Title:

Discrete sliding mode control for electrostatic levitation systems

作者:

吴黎明; 韩丰田; 侯伯杰.

郑州大学机械工程学院,河南,郑州,450002, 郑州大学机械工程学院,河南,郑州,450002, 郑州大学机械工程学院,河南,郑州,450002

Author(s):

Wu Liming; Han Toyota; Berger Hou

关键词:

静电悬浮;  滑模控制;  滑模观测器;  静电力;  鲁棒控制

Keywords:

electrostatic levitation;  sliding mode control;  sliding mode observer;  electrostatic force;  Robust control

DOI:

10.3969/j.issn.1671-6833.2004.03.027

文献标志码:

A

摘要:

根据陀螺转子力学方程,建立了考虑系统参数变化的转子动力学模型,设计了离散滑模观测器和积分型离散滑模控制器,采用MATLAB SIMULINK进行动态仿真,并与线性控制相比较.结果表明:采用滑模控制后,时域超调量降低40%,调整时间缩短60%;频域刚度在低频段提高42%,在中频段最低点提高110%,在高频段提高53%,显著增强了系统抑制外部扰动力的能力;引入边界层后,大大削弱了控制电压的抖动,提高了系统控制的精确性,减少了能量损耗.因而,滑模控制可以改善系统的动态性能,在系统存在参数变化和外部扰动力作用下具有很强的鲁棒性.

Abstract:

According to the gyro rotor mechanics equation, a rotordynamic model considering the change of system parameters is established, and a discrete sliding mode observer and integral discrete sliding mode controller are designed, and MATLAB SIMULINK is used for dynamic simulation and compared with linear control. The results show that after sliding mode control, the overshoot in the time domain is reduced by 40% and the adjustment time is shortened by 60%. The frequency domain stiffness is increased by 42% in the low frequency band, 110% at the lowest point in the middle frequency band, and 53% in the high frequency band, which significantly enhances the system’s ability to suppress external disturbances. After the introduction of the boundary layer, the jitter of the control voltage is greatly weakened, the accuracy of system control is improved, and the energy loss is reduced. Therefore, sliding mode control can improve the dynamic performance of the system, and has strong robustness under the influence of parameter changes and external disturbances in the system.

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