高动态电动伺服系统多模复合控制技术

针对未知扰动下电动伺服系统高动态响应与高精度控制难题，在建立电动伺服系统特征模型基础上，提出一种基于时间最优控制与滑模控制结合的多模复合控制算法。该方法通过开展基于电动伺服系统精准动力学模型与环境特性的特征建模分析，详细阐述了时间最优控制算法与滑模控制算法的设计方法及其适用区间，并进行系统仿真验证。仿真结果表明：本文提出的多模复合控制算法能有效提升电动伺服系统动态响应速度与稳态精度，实现了未知扰动下高动态高可靠地稳定运行。

Multi-Mode Compound Control Technology of High Dynamic Electric Servo System

To obtain a high dynamic response and high precision control of the electric servo system under unknown disturbance, a multi-mode composite control algorithm based on time-optimal control and sliding-mode control is proposed. In this control algorithm, the available range of time-optimal control and sliding-mode control are elaborated in detail through the analysis of precise dynamic model and feature model of the electric servo system. The simulation results of this control algorithm are also verified. The results show that the proposed multi-mode composite control can effectively improve the dynamic-response speed and steady-state accuracy of the electric servo system and can realize reliable and stable operation under unknown disturbance.