摘要
为了提高无刷直流电动机控制系统的鲁棒性和控制精度,将非线性滑模控制方法引入控制系统中,设计了全局非奇异终端滑模控制律,并证明了所设计控制律可以控制系统从任意初始状态在有限时间内到达平衡点,在滑模面上,控制系统对外界扰动完全免疫.Matlab仿真结果表明,非奇异终端滑模控制方法比线性滑模和传统PID控制方法具有更好的控制效果.
In order to depress the influence of disturbances and improve the control precision, this paper introduced nonlinear sliding mode control method into the brushless DC motor control system. A global non- singular terminal sliding mode controller was designed, and with the terminal sliding mode controller, it can be proved that the time to reach the equilibrium point from any initial system state is finite. When it is in the sliding mode the control system is insensitive to any disturbance. The simulation results prove the validity of the controller. Compared with linear sliding mode and classic PID control, the global non-singular terminal sliding mode controller is more effective.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第12期2020-2023,2027,共5页
Journal of Shanghai Jiaotong University
基金
上海市科委科技攻关项目(061111033)
关键词
无刷直流电动机
变结构控制
滑模控制
系统设计
brushless DC motor
variable structure control
sliding mode control
system design
