Sliding-mode control of the cascade-based translation oscillators with rotating actuator system

DOI编号  10.7641/CTA.2019.80688
2020,37(2):307-315

 作者 单位 E-mail 武宪青 浙江理工大学 wxq@zstu.edu.cn 张益波 浙江理工大学

针对欠驱动具有旋转激励的平移振荡器(translation oscillators with rotating actuator, TORA)系统的控制问题, 本文首次提出一种全局滑模控制方法, 使闭环系统在整个控制过程对外界干扰均具有鲁棒性. 相比已有控制方法, 本文所提方法结构简单, 便于实现; 而且放宽了对外界干扰的假设条件, 可实现闭环系统的全局滑模控制. 具体而言, 本文首先将系统模型变换为由两个子系统组成的级联形式; 随后, 针对内环子系统设计了一种虚拟控制输入, 在此基础上构造了一种新颖的滑模面并设计了相应的滑模控制器; 最后, 通过严格的数学分析证明了闭环系统的稳定性及系统状态的渐近收敛性, 利用数值仿真测试检验了本文所提方法的控制性能. 通过与已有方法进行仿真对比可知, 本文方法在镇定控制与鲁棒性方面均表现出良好的控制性能.

For the control problem of the underactuated translation oscillators with rotating actuator (TORA) system, a global sliding mode control method is firstly proposed in this paper, which exhibits good robust to extraneous disturbances during the whole control process. Compared with existing control methods, the structure of the proposed method is simple, which is easy to realize. Moreover, the assumption condition of the external disturbances is relaxed and global sliding mode control of the closed-loop system is achieved. Specifically, the system model is first transformed into a cascade form consisting of two subsystems. Then, a virtual control input is designed for the inner-loop subsystem, based on which a novel sliding mode surface is constructed and a corresponding sliding mode controller is proposed. Finally, the stability of the closed-loop system and the asymptotic convergence of system states are proved through rigorous mathematical analysis, the control performance of the proposed method is examined by using numerical simulation tests. Simulation results show that, in comparison with existing methods, the proposed method achieves superior control performance in stabilization control and robust control.