位置控制系统滑膜控制器的设计

介绍了为直流电机控制系统所设计的滑模控制器，原系统存在着由库仓摩擦力矩所导致的非线怀，控制器根据常规的变结构系统进行设计，然后通过符号函数的替代来平滑不连续的控制法则，并用一种单位 函数来减少其抖动，最后推导出离散时间的控制法则，所提出的算法计算容易且有鲁棒性，已在以数字信号处理器ＤＳＰ为基础的直流电机位置控制系统上得到实现，并显示出令人满意的结果。

Design of the Sliding Mode Controller for Position Control Systems

A sliding mode controller for the DC motor position systems is presented in this pa-per. The system exists the high nonlinearity caused by the Coulomb friction torque. The con-troller is designed from the normal variable structure system, then the smoothness of discontinu-ous control law is obtained by replacing the sigum function by an unit saturation function to reduce the chatter, and then the discrete time control laws are deduced. The algorithm proposed is easily calculated and robust. It is implemented in a DSP-based DC motor position system, and shows the satisfactory results.