基于滑模与偏差耦合复合控制的舞台升降台同步控制方法研究

摘要

For multiple stage lifting platform for load disturbance, the docking process offset subsid-ence caused by factors such as asynchronous phenomenon, this paper proposes a lifting platform based on sliding-mode and composite deviation coupling stage synchronous control method. Sliding-mode control to replace the conventional PI control. Saturation function alternative symbols function to stem the chattering phenomenon of system, combined with location deviation coupling synchronization compensation at the same time, improved the synchronization performance of multiple lifting platform. Finally, respectively, on the control strategy with master-slave synchronization control simulation, the results show that the method not only has a good start and synchronization performance, and the external disturbances and in-ternal parameter perturbation shows good robustness.%针对舞台多个升降台因负载扰动、停靠过程偏置下沉等因素造成的不同步现象，提出了一种基于滑模与偏差耦合复合控制的舞台升降台同步控制方法。滑模控制取代了常规PI控制；饱和函数替代符号函数用以抑制系统中的抖振现象，同时结合位置偏差耦合进行同步补偿，改善了多个升降台的同步性能。最后分别对该控制策略与主从同步控制进行了仿真研究，结果表明文中方法不仅具有良好的启动与同步性能，而且对外部扰动和内部参数摄动也有良好的鲁棒性。