论文标题
滑动模式控制在高精度压电电动机的运动控制中的实际应用
A Practical Application of Sliding Mode Control in the Motion Control of a High Precision Piezoelectric Motor
论文作者
论文摘要
本文提出了使用部分建模补偿的滑动模式控制（SMC）的实际实施。滑动模式控制以其作为模型自由控制方法的有效性而闻名，但是，如果对数字实施中的切换频率的控制增益有限制或限制，则其有效性会降低。涉及静态摩擦的系统尤其如此。这种方法旨在通过部分模型补偿提高SMC的有效性。提出了严格的稳定性证明以验证该方法。此外，在压电运动驱动的线性阶段进行实验，并将控制方法与Abidi等人提出的离散时间积分滑动模式（DTISMC）方法进行比较。以及常规的PI控制。结果表明，与测试的其他方法相比，提出的控制方法具有出色的性能。
This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness is degraded if there is a constraint on the control gain or limitation on the switching frequency in digital implementation. This is especially the case with systems that involve static friction. This approach aims to enhance the effectiveness of SMC by partial model compensation. Rigorous stability proofs are presented to validate the approach. In addition, experiments are carried out on a piezoelectric motor driven linear stage and the control approach is compared with the Discrete-Time Integral Sliding Mode (DTISMC) approach proposed by Abidi et al. as well as conventional PI control. The results show that the proposed control approach has a superior performance in comparison to the other approaches tested.
