基于离散时间滑模的运动控制反馈补偿

Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI:10.1109/VSS.1996.578577

P. Korondi, K. Young, H. Hashimoto

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引用次数: 21

摘要

本文的主要贡献是通过对2型伺服机构的实验研究，检验基于滑模控制设计的工程可行性，其中使用不连续估计器对不确定性和外源干扰进行反馈补偿。给出了一种单片机控制的单自由度运动控制系统的实验结果。实验系统由传统的带编码器反馈的直流伺服齿轮电机和由相对刚性轴耦合的变惯量负载组成。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Discrete-time sliding mode based feedback compensation for motion control

The main contribution of this paper to examine, via experimental investigations of a type 2 servomechanism, the engineering feasibility of a sliding mode based control design, in which a discontinuous estimator is used in feedback compensation of uncertainties and exogenous disturbances. Experimental results of a transputer controlled single-degree-of-freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft.

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Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -

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