基于扰动观测器的F轨悬浮系统滑模控制
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TP273

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“十四五”国家重点研发计划项目(2023YFB4302100);国家自然科学基金项目(62063009);江西省重大科技研发专项项目(20232ACE01011);国家自然科学基金项目(52262050).


Disturbance observer-based sliding mode control for F-rail suspension systems
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    摘要:

    为解决具备多扰动、强耦合非线性特点的磁悬浮系统控制性能易受模型不确定性与外部扰动影响的问题, 提出一种基于扩张状态观测器的积分全局快速终端滑模控制方法(ESO-IGFTSMC). 首先, 搭建并分析单点F轨悬浮系统实验平台, 并基于此设计新型全局快速终端滑模面, 以确保系统可在有限时间收敛, 同时在滑模面中引入间隙误差的积分项, 以减小稳态误差并提高跟踪精度; 其次, 结合悬浮工况优化指数趋近律, 采用光滑连续可导的双曲正切函数替换传统符号函数, 可实现对传统滑模控制固有抖振问题的有效抑制, 并通过融合滑模面绝对值实现抖振抑制与收敛速度的协同优化; 然后, 将扩张状态观测器融入改进滑模控制架构, 通过实时估计并补偿系统的不确定性和外部扰动, 提高控制系统的鲁棒性的同时增强系统的动态性能; 最后, 通过对比仿真和实物实验对所提出方法进行验证, 结果表明该方法在控制精度、抗扰能力和收敛速度方面均具有显著优势.

    Abstract:

    To address the challenges in controlling magnetic levitation systems — marked by multi-disturbance environments, strong coupling, and nonlinear dynamics — that are prone to model uncertainties and external perturbations, this paper introduces an integral global fast terminal sliding mode control (IGFTSMC) methodology integrated with an extended state observer (ESO). Initially, a single-point F-rail magnetic levitation experimental setup is developed, and its dynamic model is systematically formulated. A novel global fast terminal sliding manifold is devised to guarantee finite-time convergence, while incorporating an integral term of the air-gap error into the sliding surface. This integration mitigates steady-state errors and enhances trajectory tracking precision. Subsequently, the exponential reaching law is optimized to satisfy levitation operational constraints. The conventional sign function, prone to chattering, is supplanted by a smooth, continuously differentiable hyperbolic tangent function, effectively damping undesired oscillations. Concurrently, embedding the absolute value of the sliding variable enables balanced optimization between chattering suppression and convergence rapidity. Furthermore, the ESO is embedded within the augmented sliding mode framework to dynamically estimate and counteract system uncertainties and exogenous disturbances. This integration bolsters the system's robustness and accelerates dynamic responses. Comparative simulations and physical experiments validate the proposed approach. Results highlight superior performance of the IGFTSMC over existing methods in terms of control precision, disturbance rejection, and convergence velocity.

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胡帅,秦耀,杨杰.基于扰动观测器的F轨悬浮系统滑模控制[J].控制与决策,2026,41(1):112-122

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  • 收稿日期:2025-04-16
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  • 在线发布日期: 2025-12-30
  • 出版日期: 2026-01-10
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