基于扩展状态观测器的电动负载模拟器反演滑模控制

针对电动负载模拟器中存在的强位置扰动、摩擦、间隙非线性以及参数时变等不确定干扰，提出了一种基于扩展状态观测器的反演滑模控制策略。基于反演设计的思想，将电动负载模拟器分解为负载力矩子系统和永磁同步电机驱动子系统。对负载力矩子系统，利用带有滤波器的扩展状态观测器，消除量测噪声对系统的影响，同时估计出系统中存在的干扰，而后采用比例趋近滑模控制律，得出负载力矩子系统所对应的虚拟控制量；对永磁同步电机驱动子系统，利用常规扩展状态观测器估计出子系统中的复合扰动，采用非奇异终端滑模控制律，消除观测误差以及干扰对系统的影响，并得出系统所需的最终控制量。最后，利用李雅普诺夫方法证明了电动负载模拟器的稳定性，并通过实验验证了所提方法的有效性。

Backstepping sliding mode control of electric dynamic load simulator based on extended state observer

A backstepping sliding mode control strategy based on an extended state observer is proposed to solve the problem of uncertain disturbance such as strong position disturbance, friction nonlinearity, backlash nonlinearity and parameter time-varying in the electric dynamic load simulator. Based on the idea of back-stepping design strategy, the electric dynamic load simulator is decomposed into the loading torque subsystem and the permanent magnet synchronous motor drive subsystem. An extended state observer with a filter is then applied to the loading torque subsystem to eliminate the influence of measurement noise on the system and meanwhile estimate the external disturbance in the system. Next, the virtual control quantity corresponding to the loading torque subsystem is obtained by using the proportional approaching sliding mode control law. For the permanent magnet synchronous motor drive subsystem, the conventional extended state observer is used to estimate the complex disturbance in the subsystem, and the non-singular terminal sliding mode control law is adopted to eliminate the observation error and the influence of external disturbance on the system, obtaining the final control quantity required by the system. The stability of the electric dynamic load simulator is proved by Lyapunov method and the effectiveness of the proposed method is verified by the experiments.