论文部分内容阅读
针对一类输入输出描述的离散时间系统,提出一种基于自适应切换增益的吸引律.该方法能够根据不确定干扰变化率对闭环系统影响的强弱自动调整切换增益大小,且可直接反映误差动态特性.同时,给出了闭环系统跟踪误差首次穿越原点所需的最多步数,并推导出系统绝对吸引层和稳态误差带边界的具体表达式,用于表征闭环系统跟踪误差的收敛性能和稳态性能.数值仿真和电机伺服系统上的实验结果均验证了所提出方法的有效性.
Aiming at a class of input-output discrete-time systems, a novel attracting law based on adaptive switching gain is proposed. This method can automatically adjust the switching gain according to the influence of the rate of change of the uncertainties on the closed-loop system, and can directly reflect the error The maximum number of steps required for the tracking error of the closed-loop system to traverse the origin for the first time is given, and the concrete expressions of the absolute attracting layer and the boundary of the steady-state error band are deduced to represent the convergence performance of the tracking error of the closed-loop system And steady-state performance.The numerical simulation and experimental results on the motor servo system verify the effectiveness of the proposed method.