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为解决终端滑模控制在系统远离平衡点时收敛速度较慢以及在平衡点附近存在高频抖振的问题,提出一种用于直升机控制的双层模糊终端滑模控制策略。该方法综合了终端滑模控制和模糊逻辑的优点,系统状态位于终端区外时采用基于模糊比例型达到律的模糊终端滑模,在终端区内采用基于连续型达到律的无抖振终端滑模。采用该方法为某型直升机的姿态稳定设计了控制律。仿真结果表明,该方法不仅保留了滑模控制所具有的鲁棒性强的特点,而且使得系统状态在远离平衡点和平衡点附近时都能快速收敛,同时消除了高频抖振。
In order to solve the problem that the terminal sliding mode control converges slowly when the system is far away from the equilibrium point and there exists high-frequency chattering near the equilibrium point, a double-layer fuzzy terminal sliding-mode control strategy for helicopter control is proposed. The method integrates the advantages of terminal sliding mode control and fuzzy logic. When the system state is outside the terminal area, the fuzzy terminal sliding mode based on the fuzzy proportional reaching law is adopted. In the terminal area, the chattering-free terminal sliding based on the continuous reaching law is adopted mold. The method is used to design a control law for the attitude stability of a helicopter. The simulation results show that this method not only retains the strong robustness of sliding mode control, but also allows the system state to converge rapidly away from the equilibrium point and the equilibrium point, and eliminates the high frequency chattering.