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利用跟踪微分器设计了一种新的离散滑模控制器,可以从不连续的指令信号中合理提取连续信号及微分信号,且不需要利用线性外推的方法预测指令信号下一时刻的值及其微分.与基于趋近律的离散滑模控制器进行的对比仿真表明,所设计的控制器在保持传统滑模控制固有强鲁棒性的同时,控制器的输出几乎不存在抖振现象,而且在跟踪不连续的指令信号时,系统表现出良好的动态品质.
A new discrete sliding mode controller is designed by using tracking differentiator, which can reasonably extract continuous signal and differential signal from discontinuous command signals, and does not need linear extrapolation to predict the value of the command signal at the next moment and Which is compared with the discrete sliding mode controller based on the approach law.The simulation results show that the designed controller keeps almost the inherent robustness of the traditional sliding mode control and there is almost no chattering in the output of the controller, And when tracking discontinuous command signals, the system showed good dynamic quality.