高阶滑模控制在液压起竖系统中的应用

针对液压起竖系统这类非线性系统的控制问题,根据高阶滑模控制理论,提出了一种基于微分观测器的高阶滑模控制方法。基于液压起竖系统的非线性模型,设计基于高阶滑模控制方法的起竖系统起角跟踪控制器。利用微分观测器对起竖角导数信息和高阶滑模的导数阶滑动变量信息进行观测,从而构造一种基于微分观测器的控制器形式。试验结果表明:该控制方法能应用于液压起竖系统,与PID控制和普通滑模控制比较,该方法可以有效地抑制普通滑模控制存在的抖振问题,并具有很好的控制性能。

Application of High Order Sliding Mode Control in Hydraulic Erecting System

Considering nonlinear control problem of hydraulic erecting system and combining high order sliding mode control theo-ry, a kind of high order sliding mode control method based on differential observer was proposed. An erecting angle tracking controller based on high order sliding mode control method was designed for erecting system. A differential observer was adopted to get the infor-mation of the erecting angle derivatives and sliding variable derivatives. An observer based control method was constructed. The experi-ment results show that the proposed method can be applied to real hydraulic erecting system. Compared to PID control and conventional SMC, the proposed method can effectively attenuated chattering and enhance the control performance.