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when a state- limited and control-limited servo system is to be designed with the vari-able-structure sliding mode control theory, the variable-structure control in 3- D space can beresolved into second-order speed and position sliding controls and two controlles are de-signed independently.The cascade hierarchical variable-structure control of the entire servois accomplished by two controllers in coordination. The sliding mode of speed control con-verges linearly and its characteristic root is equal to the...

when a state- limited and control-limited servo system is to be designed with the vari-able-structure sliding mode control theory, the variable-structure control in 3- D space can beresolved into second-order speed and position sliding controls and two controlles are de-signed independently.The cascade hierarchical variable-structure control of the entire servois accomplished by two controllers in coordination. The sliding mode of speed control con-verges linearly and its characteristic root is equal to the eigen value of the current controlloop in the servo system,Aimed at minimum transient period and freedom from positionovershooting,the sliding mode of position control is designed as a nonlinear process,Simula-tion results show the state and control are both limited during the process and the dynamicperforznance is excellent.

提出了一种串级递阶滑模变结构控制,将三维空间结构的控制器分解为两个二阶系统的控制器独立设计,这两个控制器共同完成系统的状态受限、控制受限式串级递阶滑模控制.给出了控制器参数的确定方法,使系统获得优良的动态过渡过程品质.

 
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