基于滑模变结构和高增益状态观测器的直流电机位置控制

doi:10.3969/j.issn.0253-2778.2018.01.011

中国科学技术大学学报 ›› 2018, Vol. 48 ›› Issue (1): 82-88.DOI: 10.3969/j.issn.0253-2778.2018.01.011

• 论著 • 上一篇

基于滑模变结构和高增益状态观测器的直流电机位置控制

唐文秀，奚文龙，李志鹏，吴俊英

1.东北林业大学机电工程学院，黑龙江哈尔滨 150040;
2.东北林业大学交通学院，黑龙江哈尔滨 150040

收稿日期:2017-04-01 修回日期:2017-08-15 出版日期:2018-01-01 发布日期:2018-01-01
通讯作者: 唐文秀
作者简介:唐文秀(通讯作者)，女，1965年生，博士/教授.研究方向：智能控制.E-mail:751664822@qq.com
基金资助:
国家自然科学基金（61473001，71071045，71131002）资助.

Position control of DC-motor based on sliding mode variable structure and high-gain observer

TANG Wenxiu, XI Wenlong, LI Zhipeng, WU Junying

1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China;
2. Traffic College, Northeast Forestry University, Harbin 150040, China
）

Received:2017-04-01 Revised:2017-08-15 Online:2018-01-01 Published:2018-01-01

摘要/Abstract

摘要： 针对直流电机位置跟踪控制，提出一种基于高增益状态观测器的直流电机位置滑模控制算法.首先建立直流电机状态空间表达式；然后设计高增益状态观测器，观测直流电机的速度和电流及其导数信号，选取合适的极点保证观测器的准确性和稳定性；最后改进滑模变结构控制算法的指数趋近律，在只采用位置传感器、电流和速度及其导数信号通过状态观测器得到的情况下，实现直流电机的位置跟踪控制，使控制系统具有较好的控制性能且易于硬件实现.对比传统滑模和PID算法，验证了该算法的有效性.

关键词: 高增益状态观测器, 滑模变结构, 指数趋近律, 位置控制

Abstract: A position sliding mode control method based on a high-gain observer is proposed for DC-motor position tracking control. The state space expression of the DC-motor is established. A high-gain observer is designed to observe the speed, current and their derivative signals. The accuracy and stability of the observer is guaranteed by placing suitable poles. The exponential reaching law of sliding mode variable structure is improved. The position tracking control of the DC-motor is realized by adopting the position

Key words: high-gain observer, sliding mode variable structure, exponential reaching law, position control

中图分类号:

TP273

唐文秀，奚文龙，李志鹏，吴俊英. 基于滑模变结构和高增益状态观测器的直流电机位置控制[J]. 中国科学技术大学学报, 2018, 48(1): 82-88.

TANG Wenxiu, XI Wenlong, LI Zhipeng, WU Junying. Position control of DC-motor based on sliding mode variable structure and high-gain observer[J]. Journal of University of Science and Technology of China, 2018, 48(1): 82-88.

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基于滑模变结构和高增益状态观测器的直流电机位置控制

Position control of DC-motor based on sliding mode variable structure and high-gain observer

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