【作者】 王祝炯；

【导师】 张治辉；

【作者基本信息】 浙江工业大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 滑模变结构控制出现在50年代，由于变结构系统的滑动模态运动对系统的参数摄动、外界的扰动、系统不确定模态和模型不确定性具有不变性，也就是完全鲁棒性，滑模控制才引起了人们的极大关注。它的不足主要是当系统运动状态在到达滑动平面后，会在滑动平面附近产生高频抖振，同时系统的控制量也产生高频振荡。 本文对滑模变结构控制的设计方法进行了一些研究，针对滑模控制器设计目前存在的问题作了一些工作，仿真结果表明了能够取得较好的控制效果。具体工作主要有： 第一，比较全面查阅了关于滑模变结构控制的文献，总结了滑模变结构控制的发展历史和特点，详细介绍了连续系统和离散系统滑模变结构控制的基本概念、基本定义和设计方法； 第二，针对一类具有不确定性的单输入非线性系统，把滑模控制原理和模糊控制理论相结合，提出了一种新的模糊滑模设计方法。该方法将到达条件改为指数趋近律，并且通过模糊规则自适应调整切换函数的模糊量化因子。仿真结果表明，设计的模糊滑模系统进一步提高了到达滑动面的速度，在消除变结构控制系统固有的抖振的同时进一步改善了系统偏差，提高了控制精度。 第三，本文以最简单的单输入离散系统为模型，分析讨论了控制量延迟对离散变结构控制系统的影响，提出了基于系统状态预测值的离散变结构控制设计方法；仿真表明该方法设计的具有控制滞后的变结构系统避免了控制量延迟对系统动静态的不利影响，控制效果良好。还讨论了系统参数误差对按上述的基于预测值方法设计的离散滑模变结构控制系统的影响，提出了采用在线算法的变结构设计方法，达到了良好的控制效果。更多还原

【Abstract】 The sliding mode variable structure control that is brought in 50’s is attention- getting because of its ideal robustness. The sliding mode movement of variable structure system holds the invariance for the change of system parameters, outside disturbance, uncertain mode and model uncertainty of the system. Its flaw is that after the system state getting to the sliding plane, it will produce high frequency chattering around the sliding plane and the control variable of the system will also produce high frequency chattering.The paper makes some research for the design method of sliding mode variable structure control, and does some works for the existent problems at present. The simulation shows that better control effect can be achieved. The main works are summarized as follows:Firstly, this thesis relatively fully refers to the literature in the field of sliding mode variable structure control, and summarizes the development history and characteristics of sliding mode variable structure control, and particularly introduces the elementary concepts and elementary definitions and design method.Secondly, based on the principle of sliding mode control and fuzzy control a new design method of fuzzy sliding mode control is put forward for a class of SISO nonlinear systems in the presence of uncertainties. The reaching condition of the method becomes exponent load-frequency and fuzzy measure gene of switch function is adaptively adjusted through fuzzy rules. Simulation results show that the fuzzy sliding mode system ulteriorly increases the speed to the sliding plane, and that the systemerrors are improved ulteriorly and the control precision is advanced when avoiding the chattering phenomenon that is inherent to sliding mode variable structure systems.Thirdly, with the simplest single-input discrete system as the model, we analyze and discuss the effects for control-delay on the discrete variable structure control systems, and bring forward the design method of discrete variable structure control based on the system state forecast; Simulations show that the above solution avoids adverse influences for Control-delay on the performance of variable structure control systems with control-delay, and control effect is fine. In addition, we discuss the effects for the errors of system parameters on the discrete sliding mode variable structure control systems that are designed by means of above solution based on the system state forecast, and put forward the variable structure design method with on-line arithmetic, and achieve favorable control effect.更多还原