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信号抖振
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The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal.However,different choices of the boundary layer width lead to conflicting effects,for instance,a large/small boundary layer width can more/less effectively alleviate the chattering phenomenon, or lead to less/more accurate control results.So,a design method of sliding mode controller is proposed based on state boundary layer,that is to adjust the width of boundary layer by state mode for...

The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal.However,different choices of the boundary layer width lead to conflicting effects,for instance,a large/small boundary layer width can more/less effectively alleviate the chattering phenomenon, or lead to less/more accurate control results.So,a design method of sliding mode controller is proposed based on state boundary layer,that is to adjust the width of boundary layer by state mode for an uncertain linear system.The simulation result showed that the proposed state-dependent boundary layer design can effectively eliminate chattering of signal meanwhile,ensure the control accuracy.

在滑模控制理论中 ,减少控制信号抖振一直是研究的热点问题之一。最常用的使用边界层控制的方法会因边界层宽度的不同选择产生不同的结果 ,或者减少控制信号的抖振 ,或者降低控制精度。本文提出了基于状态边界层的滑模控制器的设计构想 ,即用状态的模来调整边界层的宽度。仿真结果表明 ,这种方法能有效地消除控制信号的抖振 ,同时兼顾了控制精度。

Based on the sliding mode control theory of linear systems, a type of state norm control to general SISO linear systems is discussed. The controller structure with state norm is presented. The stability of closed-loop systems under the state norm control is proved by using Lyapunov stability theory. For a numerical example the performance of state norm control is studied, and then the difference of three sliding mode control systems in stable state is reported. The chattering of the state norm control is more...

Based on the sliding mode control theory of linear systems, a type of state norm control to general SISO linear systems is discussed. The controller structure with state norm is presented. The stability of closed-loop systems under the state norm control is proved by using Lyapunov stability theory. For a numerical example the performance of state norm control is studied, and then the difference of three sliding mode control systems in stable state is reported. The chattering of the state norm control is more smoothing.

在线性系统滑模控制理论的基础上,给出了对于一般SISO线性系统状态范数控制的形式,提出了状态范数的控制器结构。基于李亚普诺夫稳定性理论证明了状态范数控制系统的闭环稳定性。然后分别针对状态范数控制器与趋近率控制和单位向量控制进行了数值仿真的分析与比较,结果说明状态范数控制综合了趋近率控制和单位向量控制各自的优点,控制信号抖振更小,闭环系统稳态性能有了一定改进。

Based on nonlinear decentralized theory,a nonlinear decentralized controller was designed for the pose stabilization of X-Cell50 helicopter in vertical flight.This simple-structured and easy-to-realized controller does not require the precise math model,however,the integral action included in it compensates unknown factors of plant.Simulations compared with sliding mode control,show that the proposed control system overcomes the disadvantage of sliding mode control just as chattering phenomenon and steady-state...

Based on nonlinear decentralized theory,a nonlinear decentralized controller was designed for the pose stabilization of X-Cell50 helicopter in vertical flight.This simple-structured and easy-to-realized controller does not require the precise math model,however,the integral action included in it compensates unknown factors of plant.Simulations compared with sliding mode control,show that the proposed control system overcomes the disadvantage of sliding mode control just as chattering phenomenon and steady-state error.It is important that the excellent robust performance withstanding the outside disturbances and dynamical uncertainties is obtained by using the nonlinear decentralized controller.

基于非线性分散控制理论,设计了X-cell50微型直升机垂直飞行的姿态稳定非线性控制系统。该控制系统的设计不依赖对象精确数学模型,控制器结构简单易于实现,所包含的积分环节补偿了系统内部的各种未知因素以及外部扰动。仿真结果与变结构滑模控制相比,不仅避免了滑模控制存在的输出稳态误差和控制信号的抖振现象,而且当直升机存在外部干扰和内部参数变化时对其姿态稳定性能的控制具有很强的鲁棒性。

 
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