基于改进滑模自抗扰控制器的旋转镜伺服系统控制

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Sugishita Yu, Lixiang Ma, Jinlei Zhuang, Bingyou Liu, Pan Yang, Xuan Fan
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引用次数: 0

摘要

为了提高旋转镜伺服系统的跟踪精度和鲁棒性,提出了一种改进的滑模自抗扰控制策略。首先,分析了旋转镜伺服系统的结构和工作原理,建立了其数学模型,为控制器的设计做准备。在此基础上,提出了一种msm -自抗扰控制器,以减小未知干扰的影响,提高跟踪精度。其中,用设计的最优控制函数代替传统的非线性函数,设计了改进滑模扩展状态观测(MSM-ESO),提高了系统状态量和总扰动的观测精度。同时,提出了一种改进的逼近律,并基于该逼近律设计了一种改进的滑模非线性误差反馈控制律(MSM-NLSEF),提高了控制律的收敛速度和精度。此外,还证明了所设计的MSM-ESO和MSM-NLSEF的稳定性。最后,通过仿真和实验对比,验证了所提控制方法的有效性。结果表明,该控制方法具有良好的跟踪性能和较强的抗干扰能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Rotating mirror servo system control based on modified sliding mode-active disturbance rejection controller
In order to improve the tracking accuracy and robustness of the rotating mirror servo system, a modified sliding mode-active disturbance rejection control (MSM-ADRC) strategy is proposed. Firstly, the structure and working principle of the rotating mirror servo system are analysed, and its mathematical model is established to prepare for the design of the controller. Then, a MSM-ADRC is proposed to reduce the influence of unknown disturbance and improve the tracking accuracy. Among them, the modified sliding mode extended state observation (MSM-ESO) is designed by replacing the traditional nonlinear function with the designed optimal control function, which enhances the observation accuracy of the system state quantity and total disturbance. Meanwhile, an improved approach law is proposed, and an improved sliding mode nonlinear error feedback control law (MSM-NLSEF) is designed based on this approach law, which improves the convergence speed and accuracy of the control law. In addition, the stability of the designed MSM-ESO and MSM-NLSEF is proved. Finally, the proposed control method is validated by simulation and experimental comparison with other state-of-the-art controllers. Results reveal that the proposed control method has satisfying tracking performance and strong disturbance rejection ability.
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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