| 引用本文: | 丛爽,De Carli Alessandro.位置控制系统滑膜控制器的设计[J].控制理论与应用,1997,14(5):716~721.[点击复制] |
| CONG Shuang,DE Carli Alessandro.Design of the Sliding Mode Controller for Position Control Systems[J].Control Theory and Technology,1997,14(5):716~721.[点击复制] |
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| 位置控制系统滑膜控制器的设计 |
| Design of the Sliding Mode Controller for Position Control Systems |
| 摘要点击 3040 全文点击 700 投稿时间：1996-01-03 修订日期：1996-07-08 |
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| DOI编号 |
| 1997,14(5):716-721 |
| 中文关键词 滑膜控制 变结构系统 误差状态空间 |
| 英文关键词 sliding mode control variable-structure system error state-space |
| 基金项目 |
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| 中文摘要 |
| 介绍了为直流电机控制系统所设计的滑膜控制器.原系统存在着由仓库摩擦力矩所导致的非线性.控制器根据常规的变结构系统进行设计，然后通过符号函数的替代来平滑不连续的控制法则，并用一种单位饱和和函数来减少其抖动.最后推导出离散时间的控制法则.所提出的算法计算容易且有鲁棒性，已在以数字信号处理器DSP为基础的直流电机位置系统上得到实现，并显示出令人满意的结果. |
| 英文摘要 |
| A sliding mode controller for the DC motor position systems is presented in this paper. The system exists the high nonlinearity caused by the Coulomb friction torque. The controller is designed from the normal variable structure system，then the smoothness of discontinuous control law is obtained by replacing the sigum function by an unit saturation function to reduce the chatter，and then the discrete time control laws are deduced. The algorithm proposed is easily calculated and robust. It is implemented in a DSP-based DC motor position system，and shows the satisfactory results. |