为了改善音圈电机驱动系统的动态性能,课题组提出了一种全局自适应非奇异快速终端滑模控制策略.在非奇异快速终端滑模控制器的基础上,引入全局滑态因子,改善系统的瞬态响应;同时将自适应控制和非奇异快速终端滑模控制相结合,利用自适应控制可以根据系统的实时状态和外部干扰自动调整参数的特点,来减小扰动、提高系统的鲁棒性和抗干扰性;将控制律中的符号函数改为一种边界层的饱和函数来削弱振动;通过李亚普诺夫稳定性理论证明所提出的控制器的稳定性;最后,将全局自适应非奇异快速终端滑模控制与比例积分微分控制(proportional integral derivative,PID)和滑模控制(sliding mode control,SMC)进行仿真对比.结果表明:与PID控制和滑模控制相比,所提出的全局自适应非奇异快速终端滑模控制提高了系统的动态响应速度和控制精度,有效改善了系统的动态性能.
Voice Coil Motor Global Adaptive Non-Singular Fast Terminal Sliding Mode Control
In order to improve the dynamic performance of the voice coil motor drive system,a global adaptive non-singular fast terminal sliding mode control strategy was proposed.On the basis of the non-singular fast terminal sliding mode controller,a global sliding factor was introduced to improve the transient response of the system;meanwhile,adaptive control and non-singular fast terminal sliding mode control were combined,and adaptive control could be utilized to automatically adjust the parameters according to the real-time state of the system and the external disturbances,to reduce the perturbation,and to improve the system′s robustness and immunity to disturbances.Finally,the vibration was weakened by using changing the sign function in the control law to a kind of saturation function of the boundary layer;the stability of the proposed controller was proved by the Lyapunov stability method.Finally,the global adaptive non-singular fast terminal sliding mode control was simulated and compared with proportional integral derivative control(PID)and sliding mode control(SMC).The results show that the proposed global adaptive non-singular fast terminal sliding mode control improves the response speed and control accuracy of the dynamic system,and effectively improves the dynamic performance of the system compared with the PID control and sliding mode control.
voice coil motorglobal slip state factoradaptive controlsaturation functionSMC(Sliding Mode Control)
国家科技期刊平台
NSTL
万方数据
维普
