摘要挠性系统是一类广泛存在的系统。挠性系统由于具有弱阻尼的谐振模态而不容易控制。滑模控制可以对此类系统提供很好的跟踪性能，输入成形技术可以消除挠性系统中残余振动。滑模控制与输入成形相结合的方法能够有效地解决挠性系统的控制问题。67182

    本文以弹簧—质量—阻尼系统为被控对象，首先对一级系统采用滑模控制，通过改变控制参数和选用不同的趋近律，研究对控制性能的影响。然后研究二级系统，在滑模控制的基础上加入输入成形，通过分别使用ZV、ZVD和EI成形器与滑模控制相结合，分析比较只使用滑模控制及滑模控制与输入成形方法联合控制之间的优劣。研究结果表明，滑模控制与输入成形联合控制方法可以提高挠性系统的跟踪性能，有效消除残余振动。数值仿真验证了联合控制方法的有效性。

毕业论文关键词  弹簧-质量-阻尼 滑模控制  输入成形

毕业设计说明书（论文）外文摘要

Title  Research on Combination of Sliding Mode Control and Input Shaping for Flexible System  

Abstract

The flexible system is a widely existed system. Due to a low damping of the resonant mode, the flexible system is not easy to control. Sliding mode control can provide good trajectory tracking of such systems, even in the presence of disturbances. Input shaping has been proved beneficial for eliminating residual vibration. The control scheme that combines input shaping and sliding mode control can effectively solve the control problem of flexible systems.

In this paper, the plant considered is a spring - mass - damper system. First, sliding mode control is used in a single system. By changing the control parameters and using different reaching law, the control performance is studied and analyzed.  

Then a control scheme that combines command generation and sliding mode control is used in the same spring - mass - damper system, an additional mass and spring are added in order to introduce more complicated dynamics. By using ZV, ZVD and EI shaper respectively, this method will be compared with the method which only used sliding mode control. The research results show that the method combines input shaping and sliding mode control can improve the tracking performance of the flexible system, effectively eliminate residual vibration. Numerical simulation demonstrates the effectiveness of this method.

Keywords  Spring-Mass-Damper System, Sliding Mode Control, Input Shaping

目   次

1  绪论 1

1.1  课题研究背景及意义 1

1.2  滑模控制技术简介与研究现状 2

1.3  输入成形技术简介与研究现状 4

1.4  本文主要内容 6

2  弹簧-质量-阻尼系统简介 7

2.2  一级弹簧-质量-阻尼系统 7

2.2  二级弹簧-质量-阻尼系统 7

2.3  本章小结 9

3  一级系统滑模控制的研究 10

3.1  一级系统滑模控制器的设计及仿真 10

3.2  滑模控制器参数变化对系统性能影响 12

3.3  采用不同趋近律的仿真比较 14

3.4  本章小结 16

4  二级系统滑模控制与输入成形方法相结合的仿真研究