摘要
三轴液压仿真转台具有框架间速度耦合、力矩耦合、受复杂摩擦力矩干扰及液压系统参数摄动的特点。提出将耦合项等效为外干扰,使用具有积分补偿的动态全阶滑模变结构控制器,使系统三框架始终在各自滑模上运动,实现了解耦和对外干扰及参数摄动的不变性。仿真和试验表明该方法的解耦和抗干扰效果理想。
Three-axis hydraulic simulator has the characteristics of moment coupling among frames, complex friction moment disturbance and system parameter perturbation. This paper proposes to equal the term of coupling to outer disturbance, and uses the dynamic full-order sliding mode variable structure controller with integral compensation to make three-axis move within their own sliding modes and realize the aim of decoupling and robust to disturbance and parameter perturbation. Simulations and experimentations show that the proposed approach has a quite accuracy servo tracking result.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2005年第3期376-379,共4页
Acta Aeronautica et Astronautica Sinica
关键词
三轴液压仿真转台
解耦
变结构控制
全阶滑模
three-axis hydraulic simulator
decoupling
variable structure control
full order sliding mode
