• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2008, Vol. 44 ›› Issue (4): 171-178.

• 论文 • 上一篇    下一篇

基于普艾模型的迟滞系统自适应滑模控制

王湘江;王兴松;毛燕   

  1. 东南大学机械工程学院;南华大学机械工程学院
  • 发布日期:2008-04-15

Adaptive Sliding Model Control for Hysteresis System Based on Prandtl-Ishlinskii Model

WANG Xiangjiang;WANG Xingsong;MAO Yan   

  1. School of Mechanical Engineering, Southeast University College of Mechanical Engineering, University of South China
  • Published:2008-04-15

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摘要： 通过对所设计的超磁致微位移驱动器的分析与试验研究，建立起超磁致伸缩执行器的机电系统模型。此系统由两个子系统串联构成：滤去传递函数影响的纯迟滞模型；不考虑迟滞影响系统传递函数。为了降低迟滞特性对驱动器工作的影响，在Prandtl-Ishlinskii(PI)迟滞模型的基础上提出滑模变结构控制方案，由Lyapunov稳定性理论推导出此滑模变结构控制方案的自适应控制规律。仿真与试验验证了所提出的机电系统模型的准确性和控制规律的有效性。

关键词: 迟滞, 传递函数, 滑模控制, 稳定性, 自适应

Abstract: A giant magnetostrictive actuator(GMA) is designed, analyzed and experimentally studied. The electromechanical system model is built for the GMA, which is connected in series by two subsystems: rate-independent hysteretic model; transfer function which isn’t involved in the effect of hysteresis. In order to mitigate the effect of the hysteresis, the variable structure control based on Prandtl-Ishlinskii(PI) model is proposed, and the adaptive control law for the variable structure control is deduced from the Lyapunov stability theorem. The emulational and experimental results confirm the accuracy of the electromechanical system model and the availability of the controlling method.

Key words: Adaptive, Hysteresis, Sliding model control, Stability, Transfer function

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