基于滑模变结构和扩张状态观测器的电动舵机复合控制方法

Electromechanical Actuator Control Method Based on Sliding Mode Variable Structure and Extended State Observer

关键词:  电动舵机  扩张状态观测器  滑模变结构

Key words:  Electromechanical actuator  Extended state observer  Sliding mode variable structure

摘要:

为提高电动舵机伺服系统的鲁棒性，同时解决实际工作中电动舵机不确定负载引起的跟踪精度低的问题，提出了一种采用指数趋近率的滑模变结构控制率结合扩张状态观测器对负载扰动进行实时估计的电动舵机的伺服控制方法，给出了控制器设计方法和试验验证。仿真和试验结果表明，与常规的滑模控制器相比，采用扩张状态观测器的变结构控制能有效提高电动舵机的跟踪性能。

Abstract:

To improve the robustness of electromechanical actuator servo system, and solve the problem of electromechanical actuator uncertain load lead to low tracking accuracy in practice.a novel electromechanical actuator control method is proposed, which is based on the exponential trending law-sliding mode variable structure and extended state observer (ESO) which can real-time estimate the load's disturbance of the electromechanical actuator.The controller design method and experimental verification are given.The simulation and experimental results show that compared with the conventional sliding mode controller, the variable structure control with extended state observer can effectively improve the tracking performance of electromechanical actuator.