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首页> 外文期刊>Electric Power Components and Systems >Robust Quasi-time-optimal Discrete-time Sliding Mode Control of a Servomechanism
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Robust Quasi-time-optimal Discrete-time Sliding Mode Control of a Servomechanism

机译：伺服机构的鲁棒拟时最优离散滑模控制

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摘要

In this study, a new high-performance robust position control method is proposed. Robustness against system uncertainties is provided by discrete-time sliding mode control (DSMC) method. Quasi-optimal time-varying sliding surfaces are designed to ensure a high performance control. A new numerical method solving the time-optimal trajectory of the control system including friction is developed and implemented experimentally. Optimization of the system performance is aimed while the ranges of uncertainties and reference signals are kept as large as possible in a reasonable and practical manner. A new discount factor function especially determined for the investigated discrete-time control system is also proposed. Overshoots and oscillations that may occur in the case of high gain of switching function and large parameter variations are prevented. The proposed control method is applied to a vector controlled induction motor drive system. Experimental and simulation results showing the effects of the parameter variations and the wide range of the position reference on the system performance are presented.
机译：在这项研究中，提出了一种新的高性能鲁棒位置控制方法。离散时间滑模控制（DSMC）方法提供了针对系统不确定性的鲁棒性。准时变的最佳滑动表面旨在确保高性能控制。开发并实验实现了一种求解包含摩擦的控制系统时间最优轨迹的数值方法。旨在优化系统性能，同时以合理和实用的方式将不确定性和参考信号的范围保持尽可能大。还提出了一种新的折现因子函数，该函数专门为所研究的离散时间控制系统确定。避免了在开关功能的高增益和较大的参数变化情况下可能发生的过冲和振荡。所提出的控制方法被应用于矢量控制感应电动机驱动系统。实验和仿真结果显示了参数变化和位置参考的广泛范围对系统性能的影响。

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