针对直流电机伺服系统中普遍存在的参数不确定性以及不确定性非线性等各种扰动,提出了一种基于扰动补偿的无抖动终端滑模位置控制策略,实现了直流电机伺服系统的高精度位置跟踪控制.系统模型考虑了非线性摩擦特性以及外干扰等建模不确定性.所提出的全状态控制器对连续非线性摩擦进行了前馈补偿,进一步改善了系统的低速伺服性能;通过扩张状态观测器对未建模干扰等不确定性进行估计并前馈补偿,提高了系统对外干扰的鲁棒性.同时,所设计的控制器还能保证系统状态在有限时间内趋于平衡状态,提高了系统的快速跟踪性能.最终,通过对比的仿真结果对其进一步工程应用具有实际指导意义.%For all kinds of disturbances existing in DC motor servo systems such as parametric uncertainties and uncertain nonlinearities and so on, we propose a disturbance compensation based free chattering terminal sliding mode control strategy which implements high-precision position tracking control of DC motors. The established system model takes nonlinear friction characteristics and modeling uncertainties as well as exter-nal disturbances of the system into account. The proposed full state controller feedforward compensates the nonlinear continuous friction and further improves low-speed servo performance of the system. By utilizing an extended state observer to estimate the model uncertainties as well as external disturbances and feedfor-ward compensating it, the robustness of the system to external disturbances has been improved. At the same time, the presented controller can guarantee the system state converge to the equilibrium state in a finite time, which improves the fast tracking performance of the system. Eventually, comparing simulation results do have practical guiding significance to the further engineering application.
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