滑模控制器趋近律仿真研究

MICROPROCESSORS*张翔,王德石,李景熹(武汉海军工程大学,武汉430033):介绍了滑模变结构控制的基本原理,对常用的四种趋近律进行了仿真分析,通过仿真比较了它们到达切换面的时间抖振等效果,对滑模控制设计时趋近率的使用提出了建议:滑模变结构控制;趋近律;matlab仿真:TN911.23:A:1002-2279(2008)01-0080-02SimulationDesignofSliding-modeControlReachingLawZHANGXiang,WANGDe-sh,iLIJing-xi(Dept.ofWeaponryEng.,NavalUniv.ofEngineering,Wuhan430033,China)Abstract:Thispaperdiscussestheprincipleofthesliding-modecontrolandusestheMatlabtoprogrammethefourusefulsliding-modecontrolreachinglaw,throughwhichwecomparetheirtimesofreachingswitchandthechatter,andgivesomesuggestsofdesignthesliding-modecontrolreachinglaw.Keywords:Sliding-modecontro;lReachinglaw;Matlab1,!!:∀s;#:x=f(x,u,t)x∃Rn,u∃Rm,t∃R:s=Cx=c1x1+%+cnxns∃RmC=[c1,%,cn]u=u+(x)s(x)0u-(x)s(x)0:∀s=0,,;#();&,12,3,,u+(s0)u-(s0),();,()s,;2:(1)s=-sgn(s)0,s,,120082No.1Feb.,2008*:(GrantNo.50275146,10272113):(1979-),,,,::2006-09-13:;,(sgn,)(2)s=-sgn(s)-ks0,k0,,,,;,,(3)s=-k|s|asgn(s)k0,0a1a,k,(4)s=-sgn(s)-f(s)0f(0)=0,s∋0,sf(s)03:x=Ax+Bu(1)s=Cxs=Cx(2)(1)(2):u=(CB)-1(-CAx+s)A=01034,B=0234Matlab,s1-4,C=[8,6],=3,k=8;k=8,=0.5;f(s)=ks3,,,f(s),f(s)4,,,,,:[1].[M].:,1996.[2]HamerlainM,YoussefT,BelhocineM.Switchingonthederivativeofcontroltoreducechatter[J].IEEEProceedingsonControlTheoryandApplications,2001,148(1):88-96.[3],,.[M].:,1997.811