雙層式離散型順滑模式控制器設計

Abstract

在本篇論文中提出了雙層式離散型順滑模式控制的架構，並且建議使用在 [19]所提的控制法則，並把那個控制法則推展到可以針對未知干擾變化率 大小的上限較未知干擾大小上限小的情況。並舉例說明在傳統離散型順滑 模式控制中只要求保証離順滑平面的距離是絕對遞減並不能夠保証系統軌 跡能到順滑平面附近的原因。在雙層式離散型順滑模式控制中引入了兩層 的觀念的控制架構，並且加入控制器必須在有限時間內進入A-層的概念。 在控制器設計上，推導出了兩層寬度與控制法則係數間的關係。以及控制 法則係數與到系統軌跡到達A-層所需的大概時間。和控制法則係數與系統 穩態時控制誤差上限的關係。藉由這些關係式以作調整控制法則係數的一 個參考。 In this thesis, we offer a structure of two layer discrete slidng mode control and suggest a control algorithm used in [19], and we extend that control algorithm to the case which the upper bound of the system unknown disturbance variation magnitude is smaller than the upper bound of the system unknown disturbance magnitude. And we take a example to explain the reason that the distance from the sliding surface being strickly decreasing is not sufficient gurateen the system trajectory can attain the vicinity of the sliding surface. In two layer discrete slidng mode control, a two layer structure is introduced and a concept of finite time reaching is also contained. In controller design we infer a relationship between conficients of control algorithm and the width of two layers , a relationshipbetween conficients of control algorithm and the rough time for a system trajectory reaching A-layer ,and the relationship between coefficients of control algorithm and the upper bound of control error. We can use these relationships as references for tuning control coefficients.