基于扩张状态观测器的二质量系统非奇异快速终端滑模控制

针对含未知负载信息的二质量伺服系统,提出一种基于有限时间扩张状态观测器的非奇异快速终端滑模控制方法.首先,利用电机侧位置信息设计有限时间扩张状态观测器估计系统的扰动,并将估计值融入到控制器中作为前馈项对系统的未知扰动进行补偿;然后,引入一种新型的滑模趋近律,该趋近律能够避免传统滑模控制中存在的奇异性问题,据此设计非奇异快速终端滑模控制器,保证系统状态在有限时间内收敛到原点,并根据李雅普诺夫稳定性理论分析闭环系统的稳定性;最后,通过仿真和实验验证所提出方法的优越性.结果表明,与传统的PID等控制相比较,所提出的基于扩张状态观测器的有限时间滑模控制方法能够提高系统的跟踪性能,并有效增强二质量伺服系统的抗扰动能力.

Nonsingular fast terminal sliding mode control based on extended state observer for two mass systems

A fast terminal sliding mode control method based on the finite time extended state observer(ESO) is proposed for the two mass servo systems with unknown load position information. To estimate the unknown disturbances, a finite-time extended state observer is designed and incorporated into the control design to compensate the unknown disturbance of two-mass systems. Then, combined with a new type of sliding mode reaching law, a non-singular fast terminal sliding mode controller is proposed, which can eliminate singularity existing in the conventional sliding mode control. Therefore, a finite time sliding mode controller is designed based on the ESO, which improves the reaching speed of sliding mode variables and ensures that the system state converges to the origin in finite time. The finite time stability of the closed-loop control system is analysed via the Lyapunov stability theory. Comparative simulations and experiments are carried out based on a two-mass driving system to validate the effectiveness of the proposed approach.