An adaptive super-twisting sliding-mode-assisted disturbance observer for motor servo
In this paper,an adaptive super twisting sliding mode assisted disturbance observer is proposed.The new disturbance observer is composed of the adaptive super twisting sliding mode compensator and the disturbance observer.It combines the advantages of both to enhance the anti-disturbance performance of the motor system.The disturbance observer performs the estimation and compensation for the low-frequency disturbance.The adaptive super twisting sliding mode compensator further estimates and compensates the high-frequency disturbance uncompensated,and residual of disturbance estimates caused by model uncertainty.Two Lyapunov functions are constructed to prove the stability of the sliding mode surface and the adaptive law respectively.In the experiments,the proposed method is compared with the disturbance observer and the adaptive sliding-mode-assisted disturbance observer.The results show that compared with the other two methods,the position convergence time of the proposed method is reduced by 1.177 and 0.927 seconds respectively,and the sliding mode chattering of the proposed method is reduced by 68％.It is proved that the proposed method can improve the compensation speed of the motor system for interference and reduce the sliding mode chattering.
abrupt disturbancesuper twisting sliding mode compensatoradaptive lawdisturbance observermotor servo system
NETL
NSTL
万方数据
维普
