基于非奇异终端滑模的电机伺服系统预设性能控制

doi:10.3901/JME.2023.24.359

机械工程学报 ›› 2023, Vol. 59 ›› Issue (24): 359-366.doi: 10.3901/JME.2023.24.359

• 交叉与前沿 • 上一篇

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基于非奇异终端滑模的电机伺服系统预设性能控制

朱威霖, 王超, 邓文翔, 梁相龙, 姚建勇

南京理工大学机械工程学院南京 210094

收稿日期:2023-02-01 修回日期:2023-08-05 出版日期:2023-12-20 发布日期:2024-03-05
通讯作者: 邓文翔(通信作者),男,1991年出生,博士,副教授。主要研究方向为机电液伺服控制、机器人控制技术。E-mail:wxdeng_njust@163.com
作者简介:朱威霖,男,1995年出生。主要研究方向为机电液伺服控制。E-mail:zwl_njust@163.com
基金资助:
国家自然科学基金(52275062，52075262)和江苏省优秀青年基金(BK20230096)资助项目

Nonsingular Terminal Sliding Mode Based Prescribed Performance Control of Motor Servo Systems

ZHU Weilin, WANG Chao, DENG Wenxiang, LIANG Xianglong, YAO Jianyong

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2023-02-01 Revised:2023-08-05 Online:2023-12-20 Published:2024-03-05

摘要/Abstract

摘要： 针对电机伺服系统角度跟踪控制问题，提出非奇异终端滑模(Nonsingular terminal sliding mode, NTSM)与扩张状态观测器(Extended state observer, ESO)相结合的预设性能控制策略。利用性能预设函数(Prescribed performance function, PPF)将角度跟踪误差转化为一个变换误差，通过控制变换误差的有界性间接保证角度跟踪误差始终在预设范围内。构造ESO观测系统的模型不确定性，包括系统参数偏差、非线性摩擦和外部扰动等，并用于控制器的前馈补偿设计以提升跟踪性能；同时设计NTSM控制律保证系统的有限时间稳定性。通过Lyapunov稳定性理论证明了所提控制策略可以保证变换误差的有界性和闭环系统的稳定性。基于电机伺服系统试验平台的对比试验结果表明，所提控制策略在不同频率期望轨迹的条件下，均具备较好的控制精度，相较于NTSM+ESO控制器和NTSM控制器，控制性能分别提升了14%和37%左右，验证了所提控制策略的有效性。

关键词: 电机伺服系统, 模型不确定性, 性能预设, 非奇异终端滑模, 扩张状态观测器

Abstract: Aiming at the angle tracking control problem of the motor servo systems, a prescribed performance controller combining nonsingular terminal sliding mode(NTSM) and extended state observer(ESO) is proposed. This method uses the prescribed performance function(PPF) to convert the angle tracking error into a transformation error, and indirectly ensure the tracking error is within the prescribed bound by controlling the boundedness of the transformation error. Constructing an ESO to observe the lumped uncertainties including parameters deviation, nonlinear friction, external disturbance, etc., and adding it to the controller's feedforward compensation term to improve tracking performance. A NTSM control law is designed to ensure the stability of the system in finite time. The Lyapunov stability theory proves that the proposed control strategy can guarantee the boundedness of the transformation error and the stability of the closed-loop system. The comparative experiment results based on the motor servo system experimental platform illustrate that the proposed controller has better tracking accuracy under the condition of the desired trajectory with different frequencies. Compared with the controller combining NTSM and ESO and the controller using NTSM alone, the tracking performance has been improved by about 14% and 37% respectively, which verifies the effectiveness of the strategy.

Key words: motor servo system, model uncertainty, prescribed performance, nonsingular terminal sliding mode, extended state observer

中图分类号:

TP273

朱威霖, 王超, 邓文翔, 梁相龙, 姚建勇. 基于非奇异终端滑模的电机伺服系统预设性能控制[J]. 机械工程学报, 2023, 59(24): 359-366.

ZHU Weilin, WANG Chao, DENG Wenxiang, LIANG Xianglong, YAO Jianyong. Nonsingular Terminal Sliding Mode Based Prescribed Performance Control of Motor Servo Systems[J]. Journal of Mechanical Engineering, 2023, 59(24): 359-366.

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基于非奇异终端滑模的电机伺服系统预设性能控制

Nonsingular Terminal Sliding Mode Based Prescribed Performance Control of Motor Servo Systems

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