第二阶机械系统的滑动模式控制的新增强度调节:理论和实验
Nguyen Xuan-Mung1, Ngoc Phi Nguyen2, Dinh Ba Pham3
1Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, 05006, South Korea. xuanmung@sejong.ac.kr.
Scientific reports
|June 29, 2023
概括
本研究引入了一种用于调整机械系统中滑动模式控制收益的新方法. 它简化了增强选择,确保了所需的性能和适当的执行器功能,以改进控制系统设计.
科学领域:
- 控制系统工程 控制系统工程
- 机器人和自动化机器人与自动化
- 机械工程 机械工程
背景情况:
- 滑动模式控制 (SMC) 是一种强大的控制技术,具有广泛的应用.
- 选择合适的SMC收益至关重要,但实际实施往往具有挑战性.
- 现有的方法可能缺乏效率或与系统性能标准直接联系.
研究的目的:
- 开发一种新且高效的增强调节方法,用于二级机械系统中的SMC.
- 建立控制器增益和闭环系统动态 (自然和减压比) 之间的清晰关系.
- 将执行器时间常数和性能指标 (定位时间,延迟时间) 整合到增速选择过程中.
主要方法:
- 导出SMC收益与闭环系统参数之间的分析关系.
- 包括执行器动力学和性能标准来定义实际增益范围.
- 拟议方法应用于四旋翼无人机的高度控制器.
主要成果:
- 建立了基于所需系统性能选择SMC收益的系统方法.
- 证明拟议的方法确保了执行器的正确运行,并达到性能目标.
- 通过模拟和四旋翼飞机的实验测试验证了增强调整方法.
结论:
- 新的增强调整方法为设计SMC系统提供了节省时间和有效的解决方案.
- 该方法通过将控制器收益直接与系统性能和执行器约束联系起来,提高了控制设计.
- 该方法的适用性在现实应用中得到证实 (四旋翼高度控制).
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