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A control method and sliding mode technology, applied in the field of data processing, can solve problems such as nonlinearity and sliding mode control chattering
Inactive Publication Date: 2016-08-10
HARBIN ENG UNIV
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[0003] The purpose of the present invention is to provide a sliding mode control method and device, aiming to solve the problem of chattering in sliding mode control when the control system is nonlinear and the model is inaccurate
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specific Embodiment 1
[0051] like figure 1 As shown, the embodiment of the present invention provides a sliding mode control method, including:
[0052] Step S101, acquiring switching items of the control system;
[0053] Step S102, determining and outputting a control quantity according to the switching item, and the second order derivative of the control quantity includes the switching item;
[0054] Step S103, controlling the control system according to the control amount.
[0055] In the embodiment of the present invention, the switching term is included in the second derivative of the control quantity, so that the control quantity is the second integral of the switching term, the rate of change of the control quantity is the primary integral of the switching term, and the switching term becomes continuous after integration, that is, the control quantity The rate of change of the control variable and the control variable are continuous, which makes the sliding mode control suitable for proces...
specific Embodiment 2
[0069] Such as figure 2 As shown, the embodiment of the present invention provides a sliding mode control device, including:
[0070] A switching item obtaining module 201, configured to obtain switching items of the control system;
[0071] A control quantity acquisition module 202, configured to determine and output a control quantity according to the switching item, and the second order derivative of the control quantity includes the switching item;
[0072] The control module 203 is configured to control the control system according to the control amount.
[0073] In the embodiment of the present invention, the switching term is included in the second derivative of the control quantity, so that the control quantity is the second integral of the switching term, the rate of change of the control quantity is the primary integral of the switching term, and the switching term becomes continuous after integration, that is, the control quantity The rate of change of the contro...
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Abstract
The invention provides a sliding mode control method and apparatus. The method comprises: a switching item of a control system is obtained; according to the switching item, a control quantity is determined and outputted, wherein a second derivative of the control quantity includes the switching item; and according to the control quantity, the control system is controlled. According to the method, because the switching item is included by the second derivative of the control quantity, the control quantity is a quadratic integral of the switching item and the changing rate of the control quantity is a once integral of the switching item; and the switching item becomes continuous after integration and thus the control quantity and the control quantity changing rate become continuous. Therefore, the sliding mode control method is suitable for control of the process without control quantity and derivative mutation; a defect that the traditional sliding mode control quantity and the derivative are not continuous can be overcome; and a problem that buffeting exists in sliding mode control under the circumstance that the control system is in a non-linear mode and the model is not accurate can be solved.
Description
technical field [0001] The invention relates to the field of data processing, in particular to a sliding mode control method and device. Background technique [0002] In the automatic control industry, researchers have studied various new sliding mode control methods, such as high-order sliding mode, terminal sliding mode, adaptive sliding mode, integral sliding mode, etc., to solve the uncertainty of the control system model and Parameter mismatch and other issues. Sliding mode control has the disadvantage of chattering. In solving the chattering problem, in the existing chattering-free full-order sliding mode control method, the control variable is continuous, but its derivative is discontinuous because it contains switching items. But in actual process control, when the control quantity is position control, for example, the opening of the valve is continuous, and the valve opening speed cannot change suddenly. doesn't work well. Contents of the invention [0003] The...
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