基于新型趋近率的含齿隙随动系统鲁棒控制

doi:10.12305/j.issn.1001-506X.2023.04.26

摘要/Abstract

摘要：

针对一种含齿隙随动系统高精度、快响应、鲁棒能力强的控制需求, 提出了一种基于新型滑模趋近率的鲁棒控制策略。首先在位置环设计过程中引入了积分非奇异终端滑模控制器, 能有效克服系统结构参数的变化, 并提高了响应能力; 其次利用线性扩张状态观测器将传动结构中的齿隙因素视作外在扰动之一进行补偿, 增加了系统的稳定性与鲁棒能力; 最后基于设计的新型滑模趋近率克服了控制量的抖动问题, 通过联合仿真实验证明了所提出方法的有效性。

关键词: 含齿隙随动系统, 积分非奇异终端滑模, 扩张状态观测器, 滑模趋近率

Abstract:

Aiming at the requirements with high precision, fast response and strong robustness of the servo system includes backlash, a control strategy based on the new sliding mode reaching law is proposed. Firstly, an integral nonsingular terminal sliding mode controller is introduced in the design of position loop, which can effectively overcome the changes of structural parameters and improve the response ability. Secondly, the linear extended state observer is used to compensate the backlash factor in the transmission structure which increases the stability and robustness of the system. Finally, based on the designed new sliding mode reaching law, the jitter problem of controller output is overcome. The joint simulation experiments prove the effectiveness of the proposed method.

Key words: servo system with backlash, integral nonsingular terminal sliding mode (INTSM), linear extended state observer (LESO), sliding mode reaching law

中图分类号:

TJ765.2

李方俊, 王生捷, 李俊峰, 李浩, 崔臣君. 基于新型趋近率的含齿隙随动系统鲁棒控制[J]. 系统工程与电子技术, 2023, 45(4): 1177-1184.

Fangjun LI, Shengjie WANG, Junfeng LI, Hao LI, Chenjun CUI. Robust control of servo system with backlash based on new reaching law[J]. Systems Engineering and Electronics, 2023, 45(4): 1177-1184.

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参数	数值
定子电感L/mH	4.25
定子电阻R/Ω	0.26
力矩系数K_t/(N·m·A^－1)	1.066
反电势系数C_e/(V/(rad·s^－1))	0.8
减速器减速比i_r	10
齿轮结构传动比i_m	5
负载转动惯量J_m/(kg·m²)	22.776
摩擦系数B_m/(N·m·s·rad^－1)	0.01

参数	数值
位置环比例系数	70
速度环比例系数	14
速度环积分系数	0.1
电流环比例系数	0.212
电流环积分系数	13

参数	数值
位置环比例系数	1.65
LESO系数λ₁	12
LESO系数λ₂	800
INTSM系数β	1
INTSM系数p/q	5/3
INTSM系数D	1 000
INTSM系数k	1 000

参数	数值
位置环比例系数	1.65
LESO系数λ₁	12
LESO系数λ₂	800
INTSM系数β	1
INTSM系数p/q	5/3
INTSM系数D	1 000
INTSM系数k	1 000
INTSM系数α	7

控制策略	加载过程位置偏差最大值/rad	撤去时位置偏差最大值/rad	误差减小至0.1%所用时间/s
PID方法	0.005 1	0.002	3.92
指数趋近率控制策略	0.002 8	0.003	0.50
新型趋近率控制策略	0.003 7	0.004	0.69