| 基于时间次优补偿的齿隙非线性系统的切换控制 |
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| 引用本文： | 赵国峰,宋杨,郭健,胡维礼.基于时间次优补偿的齿隙非线性系统的切换控制[J].兵工学报,2006,27(2):325-329. |
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| 作者姓名： | 赵国峰 宋杨 郭健 胡维礼 |
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| 作者单位： | 南京理工大学,自动化系,江苏,南京,210094;南京理工大学,自动化系,江苏,南京,210094;南京理工大学,自动化系,江苏,南京,210094;南京理工大学,自动化系,江苏,南京,210094 |
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| 摘 要： | 以伺服系统为研究对象,提出了ー种针对齿隙非线性的切换控制方法。在正常情况下采取线性控制，而在齿隙期间则采用基于时变滑模平面的时间次优控制；给出了ー种监督控制机制，使系统能够选择合适时机由线性控制切换至时间次优滑模控制，保证整个系统为有界输入有界输出（BIBO)稳定。理论分析和仿真研究表明.:该方案能够有效地消除由齿隙引起的冲击干扰，同时提高了控制器的鲁棒性。
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| 关 键 词： | 自动控制技术 齿隙 滑模控制 时间次优控制 非线性控制 伺服系统 |
| 文章编号： | 1000-1093（2006）02-0325-05 |
| 收稿时间： | 2005-05-16 |
| 修稿时间： | 2005-05-16 |
Backlash Nonlinearity Switching Control with Proximate Time Optimal Compensation |
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| ZHAO Guo-feng,SONG Yang,GUO Jian,HU Wei-li.Backlash Nonlinearity Switching Control with Proximate Time Optimal Compensation[J].Acta Armamentarii,2006,27(2):325-329. |
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| Authors: | ZHAO Guo-feng SONG Yang GUO Jian HU Wei-li |
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| Affiliation: | Department of Automation, Nanjing University of Science and Technology, Nanjing 210094，Jiangsu, China |
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| Abstract: | Based on servo system,a backlash nonlinear switching control scheme with PTO(proximate time optimal) compensation was presented.With linear controller used in contact period,sliding control with PTO surface is switched into when system entering backlash.A supervising mechanism was introduced to find suitable moment switching from linear control to PTO sliding control,ensuring boundary input and boundary output(BIBO) stability of the whole system.The design can effectively eliminate the colliding disturbance resulting from backlash and improve the robustness of controller. |
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| Keywords: | automatic controt technique backlash sliding system proximate time optimal system nonlinear control servo system |
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