基于摩擦补偿的链式弹仓自适应滑模控制
Adaptive Sliding Mode Control of Chain Magazine Based on Friction Compensation
白鹏尧 1陈龙淼 1王波 2佟明昊3
作者信息
- 1. 南京理工大学 机械工程学院, 江苏 南京 210094
- 2. 驻成都地区第一军代室, 四川 成都 610100
- 3. 南京理工大学 自动化学院, 江苏 南京 210094
- 折叠
摘要
针对链式弹仓精确到位控制中出现抖振与收敛速度慢等问题,提出了一种基于摩擦补偿的自适应非线性滑模控制(ANLSMC)方法.该控制方法引入LuGre动态摩擦模型用于补偿弹仓模型,使得弹仓模型更加贴近于真实工作环境.将传统线性滑模函数改进为非线性滑模函数,与自适应算法相结合,提高了系统鲁棒性,加快收敛速度,有效削减抖振.根据仿真结果表明,提出的摩擦补偿的自适应非线性滑模控制(ANLSMC)方法使弹仓跟踪轨迹误差减小,相比于线性滑模自适应控制方法其有效削减抖振,具有较快的收敛速度.
Abstract
An adaptive nonlinear sliding mode control(ANLSMC)method based on friction compen-sation was proposed to solve the problems of buffeting and slow convergence speed in the accurate con-trol of chain magazine.The LuGre dynamic friction model was introduced to compensate for the maga-zine model,which makes the magazine model closer to the real working environment.The traditional linear sliding mode function was improved to a nonlinear sliding mode function and combined with the adaptive algorithm to improve the robustness of the system,accelerate the convergence speed and effec-tively reduce the buffeting.The simulation results show that the ANLSMC method reduces the tracking error of the magazine,effectively reduces the buffeting and has a faster convergence speed compared with the linear sliding mode adaptive control method.
关键词
链式自动化弹仓/LuGre摩擦/滑模控制/自适应算法Key words
automatic chain magazine/LuGre friction/sliding mode control/adaptive algorithm引用本文复制引用
基金项目
江苏省自然科学基金(BK20210347)
出版年
2024
NETL
NSTL
万方数据