基于滑模变结构和高增益状态观测器的直流电机位置控制

摘要

针对直流电机位置跟踪控制,提出一种基于高增益状态观测器的直流电机位置滑模控制算法.首先建立直流电机状态空间表达式;然后设计高增益状态观测器,观测直流电机的速度和电流及其导数信号,选取合适的极点保证观测器的准确性和稳定性;最后改进滑模变结构控制算法的指数趋近律,在只采用位置传感器、电流和速度及其导数信号通过状态观测器得到的情况下,实现直流电机的位置跟踪控制,使控制系统具有较好的控制性能且易于硬件实现.对比传统滑模和PID算法,验证了该算法的有效性.%A position sliding mode control method based on a high-gain observer is proposed for DC-motor position tracking control.The state space expression of the DC-motor is established.A high-gain observer is designed to observe the speed,current and their derivative signals.The accuracy and stability of the observer is guaranteed by placing suitable poles.The exponential reaching law of sliding mode variable structure is improved.The position tracking control of the DC-motor is realized by adopting the position sensor and the observer,which makes it simple to implement the hardware.Compared with the traditional sliding mode control and PID,the simulation experiment shows that the effectiveness of the proposed method.