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一种多幂次滑模趋近律设计与分析

张瑶 马广富 郭延宁 曾添一

张瑶, 马广富, 郭延宁, 曾添一. 一种多幂次滑模趋近律设计与分析. 自动化学报, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
引用本文: 张瑶, 马广富, 郭延宁, 曾添一. 一种多幂次滑模趋近律设计与分析. 自动化学报, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
ZHANG Yao, MA Guang-Fu, GUO Yan-Ning, ZENG Tian-Yi. A Multi Power Reaching Law of Sliding Mode Control Design and Analysis. ACTA AUTOMATICA SINICA, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
Citation: ZHANG Yao, MA Guang-Fu, GUO Yan-Ning, ZENG Tian-Yi. A Multi Power Reaching Law of Sliding Mode Control Design and Analysis. ACTA AUTOMATICA SINICA, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377

一种多幂次滑模趋近律设计与分析

doi: 10.16383/j.aas.2016.c150377
基金项目: 

国家自然科学基金 61403103

中央高校基本科研业务费专项基金 HIT.NSRIF.2014035

国家自然科学基金 61174200

国家重点基础研究发展计划(973计划) 2012CB720000

中国博士后科学基金 2014M550195

详细信息
    作者简介:

    张瑶 哈尔滨工业大学控制科学与工程系博士研究生.主要研究方向为航天器姿态控制及滑模控制理论.E-mail:yaozhanghit@outlook.com

    马广富 哈尔滨工业大学控制科学与工程系教授.主要研究方向为航天器姿态控制, 卫星编队控制.E-mail:magf@hit.edu.cn

    曾添一 北京理工大学自动化学院博士研究生.主要研究方向为多电机驱动控制及机构参数与控制器一体化设计.E-mail:blessno@163.com

A Multi Power Reaching Law of Sliding Mode Control Design and Analysis

Funds: 

National Natural Science Foundation of China 61403103

the Fundamental Research Funds for the Central Universities HIT.NSRIF.2014035

National Natural Science Foundation of China 61174200

National Basic Research Program of China(973 Program) 2012CB720000

China Postdoctoral Science Foundation 2014M550195

More Information
    Author Bio:

    Ph. D. candidate in the Department of Control Science and Engineering, Harbin Institute of Technology. Her research interest covers attitude control of spacecraft and sliding mode control

    Professor in the Department of Control Science and Engineering, Harbin Institute of Technology. His research interest covers attitude control of spacecraft and satellite formation control

    Ph. D. candidate at the School of Automation, Beijing Institute of Technology. His research interest covers motor drive control and integration of mechanism parameters and controller design

    Corresponding author: GUO Yan-Ning Associate professor in the Department of Control Science and Engineering, Harbin Institute of Technology. His research interest covers attitude control of spacecraft. Corresponding author of this paper
  • 摘要: 针对传统滑模趋近律使系统存在抖振现象、收敛速度较慢及动态响应不平滑等问题, 提出一种多幂次滑模趋近律.该趋近律通过三个幂次项系数在系统趋近过程不同阶段进行针对性地调节, 使系统动态响应过程的收敛速度大幅度提高, 且无抖振现象.理论验证了其存在性、可达性及稳定性, 并详细推导了趋近速率及干扰稳定界.以航天器姿态机动控制系统为例, 对比仿真结果表明该趋近律下, 系统的动态过程有较大改善并消除了抖振, 且在存在模型不确定性及外加干扰作用下, 系统仍可较快地收敛到平衡点附近的邻域内.
  • 图  1  不同趋近律下航天器姿态跟踪情况

    Fig.  1  Attitude tracking under reaching laws

    图  2  不同趋近律下s随时间变化情况

    Fig.  2  Condition of s under reaching laws

    图  3  不同趋近律下控制器输出u随时间变化情况

    Fig.  3  Controller output u under reaching laws

    图  4  外加干扰下s的收敛情况

    Fig.  4  Convergence condition of s with interference

    图  5  外加干扰下ds的收敛情况

    Fig.  5  Convergence condition of ds with interference

    表  1  各趋近律仿真参数

    Table  1  Simulation parameters of every reaching law

    abcd
    ka=0.9kb=0.7kc1=0.7k1=0.7
    εa=0.5αb=1.1kc2=0.9k2=0.9
    αc=1.1k3=1.1
    βc=0.8k4=1.4
    α=1.7
    β=0.5
    下载: 导出CSV
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出版历程
  • 收稿日期:  2015-06-16
  • 录用日期:  2015-11-06
  • 刊出日期:  2016-03-01

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