基于粒子群优化的板球系统双闭环滑模控制

doi:10.16039/j.cnki.cn22-1249.2020.01.014

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摘要

板球系统是高阶、开环不稳定的非线性系统，本文基于板球系统简化模型，结合Lyapunov稳定性原理，在双闭环控制方案的基础上，设计滑模变结构位置控制器，并使用粒子群算法对滑模界面参数和滑模趋近律参数进行优化，提高了控制精度，减消了滑模抖振。仿真实验表明，与传统双闭环PID控制相比，滑模变结构控制算法响应速度更快，达到稳定状态时间更短，具有更好的跟踪与鲁棒性能。

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	赵聚乐
	韩光信

关键词: 板球系统双闭环控制滑模变结构控制粒子群优化

Abstract:

Ball and plate system is a high order nonlinear system with the character of open loop instability. Based on the Lyapunov stability theory and dual closed-loop control strategy, a sliding mode variable structure position controller is designed, and the particle swarm optimization algorithm is used to optimize the sliding mode parameters with the aim of improving the control precision and reducing the sliding mode chattering elimination. Simulation results show that the sliding mode variable structure control algorithm has better tracking and robust performance compared with traditional dual closed-loop PID control.

Key words: Ball and plate system Dual closed loop control Sliding mode variable structure control Particle swarm optimization

出版日期: 2020-01-25 发布日期: 2020-01-25 整期出版日期: 2020-01-25

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引用本文:

赵聚乐, 韩光信. 基于粒子群优化的板球系统双闭环滑模控制 [J]. 吉林化工学院学报, 2020, 37(1): 63-68.
ZHAO Jule, HAN Guangxin. Double Closed Loop Sliding Mode Control of Ball and Plate System Based on Particle Swarm Optimization . Journal of Jilin Institute of Chemical Technology, 2020, 37(1): 63-68.

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https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2020.01.014 或 https://xuebao.jlict.edu.cn/CN/Y2020/V37/I1/63

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