Model-free tuning solution for sliding mode control of servo systems
Model-free tuning solution for sliding mode control of servo systems
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DOI：
10.1109/syscon.2014.6819232
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发表时间：
2014-05
期刊：
影响因子：
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通讯作者：
Radu-Emil Precup;M. Radac;C. Dragos;S. Preitl;E. Petriu
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文献类型：
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作者：
Radu-Emil Precup;M. Radac;C. Dragos;S. Preitl;E. Petriu
针对伺服系统的滑模控制结构，提出了一种无模型整定方法。新的SMCS结构被认为是在参考轨迹跟踪的框架中使用一阶非线性动态系统作为过程模型的局部近似。滑模控制信号增加了无模型PI控制系统（CS）结构的控制信号，以补偿影响系统设计和性能的估计误差。在局部近似的过程模型的导数估计数值使用Savitzky-Golay滤波器进行微分和平滑。提出了一种简单的SMCS结构的设计方法。实验室非线性直流伺服系统的速度控制的实时实验结果证明SMCS结构的性能改善无模型PI CS结构。
This paper suggests a model-free tuning solution for a sliding mode control system (SMCS) structure dedicated to servo systems. The new SMCS structure is viewed in the framework of reference trajectory tracking using a first-order nonlinear dynamic system as a local approximation of the process model. The sliding mode control signal augments the control signal specific to a model-free PI control system (CS) structure in order to compensate for the estimation errors which affect the systematic design and performance. The derivatives in the local approximation of the process model are estimated numerically using a Savitzky-Golay filter to carry out both differentiation and smoothing. A simple design approach is proposed for the SMCS structure. The real-time experimental results concerning the speed control of a laboratory nonlinear DC servo system prove the performance improvement of the SMCS structure against a model-free PI CS structure.