Self-adaptive regulation apparatus for controlling the position of actuators in an actuation system by means of the sliding-mode technique and corresponding method of operation

摘要

Described herein is a self-adaptive regulation apparatus for controlling the position of an actuation system (4) as a function of a switching surface (σ(e)) comprising: a generator module (2,10) designed to generate a control signal (U(t)) for controlling the actuation system (4) in such a way as to move one or more actuators of the actuation system (4) into a series of pre-set positions; a processing module (5, 6), which acquires a set of measurements of the positions (XK) of the actuator or actuators and the corresponding values (UK) of the control signal U(t), and processes the latter by means of an algorithm for identification of a structural model of the actuation system (4) in such a way as to determine a first parameter (n) indicating the order of the structural model identified; and a synthesis module (9) designed to receive at input an error signal (e(t)) indicating the difference between a desired position (Xd) and a position measured (XK) in the actuator or actuators present in the actuation system (4), and a second setting parameter (λ) of a switching surface (σ(e)); the synthesis module (9) being designed to configure in an automatic way the switching surface (σ(e)) to be used for control of the actuation system (4) as a function of the error signal (e(t)) and on the basis of the first parameter (n) and of said second parameter (λ).