[1]王春风,赵青青,孟旭,等.直流电机的非奇异快速Terminal滑模位置控制[J].哈尔滨理工大学学报,2019,(04):36-41.[doi:10.15938/j.jhust.2019.04.006]
 WANG Chun-feng,ZHAO Qing-qing,MENG Xu,et al.Non-singular Fast Terminal Sliding Mode Position Control for DC Motor[J].哈尔滨理工大学学报,2019,(04):36-41.[doi:10.15938/j.jhust.2019.04.006]
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直流电机的非奇异快速Terminal滑模位置控制()
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《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

卷:
期数:
2019年04期
页码:
36-41
栏目:
电气与电子工程
出版日期:
2019-08-25

文章信息/Info

Title:
Non-singular Fast Terminal Sliding Mode Position Control for DC Motor
文章编号:
1007-2683(2019)04-0036-06
作者:
王春风1赵青青1孟旭2张德生3
(1.黑龙江东方学院 机电工程学部,黑龙江 哈尔滨 150086;2.东北林业大学 交通学院,黑龙江 哈尔滨 150040;
3.黑龙江工程学院 汽车与交通工程学院,黑龙江 哈尔滨 150060)
Author(s):
WANG Chun-feng1ZHAO Qing-qing1MENG Xu2ZHANG De-sheng3
(1.Department of Mechanical and Electrical Engineering,East University of Heilongjiang, Harbin 150086,China; 
2.School of Transportation, Northeast Forestry University,Harbin 150040,China; 
3.School of Automobile and Traffic Engineering,Heilongjing Institute of Technology, Harbin 150060,China)
关键词:
扩张观测器非奇异快速Terminal滑模变结构位置控制直流电机
Keywords:
expansion observer non-singular fast terminal sliding mode variable structure position control DC motor
分类号:
TP23
DOI:
10.15938/j.jhust.2019.04.006
文献标志码:
A
摘要:
针对直流电机位置控制,提出基于非奇异快速Terminal滑模和扩张观测器的直流电机位置控制算法。根据电枢电压方程、电磁转矩方程和转矩平衡方程建立直流电机状态空间表达式。针对电机状态空间表达式设计扩张观测器,根据电机给定位置和实际位置在线估计电机角速度和负载扭矩扰动。选取偏差作为状态量,建立针对偏差的电机状态空间表达式。考虑电机角位移和角速度偏差,设计动态滑模面,确定算法输出。分别定义Lyapunov函数,分析证明观测器、滑模控制算法和控制系统整体的稳定性。算法硬件实现简单,便于实际应用。对比PID算法,分别跟踪正弦波、方波和三角波信号进行仿真实验验证算法有效性。
Abstract:
A position control method based on nonsingular fast terminal sliding mode and expansion observer was proposed for DC-motor position tracking control. The state space expression of DC-motor was established according to the armature voltage equation, electromagnetic torque equation and torque balance equation. Based on the state space expression, expansion observer was proposed. The angular velocity and load torque disturbance of the motor were estimated according to the given position and actual position of the motor. The deviations were chosen as state variables. The state space expression of the DC motor was established by deviations. The dynamic sliding surface and algorithm output were designed by angular deviation and angular velocity deviation. The Lyapunov functions were defined respectively to prove the stability of the observer, sliding mode control algorithm and the entire control system. The algorithm was convenient for practical application because the hardware implementation was simple. Compared with PID, the effectiveness of the algorithm was proved by tracking sinusoidal, square and triangular wave signals.

参考文献/References:

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备注/Memo

备注/Memo:
?收稿日期: 2019-05-27
基金项目: 国家自然科学基金(51575097)
作者简介:
王春风(1982—),女,硕士,讲师;
孟旭(1988—),男,博士研究生
通信作者:
赵青青(1986—),女,硕士,讲师,E-mail:837858480@qq.com
更新日期/Last Update: 2019-09-03