用于离心式作动器的变滑模面滑模控制

作动器系统是组成直升机结构响应主动控制（ACSR）系统的重要子系统之一，为解决离心式作动器同时实现输出力幅值、相位和频率跟踪以及输出力跟踪误差问题，提出了一种基于滑模变结构控制的变滑模面控制（VSMSMC）方法。首先，根据离心式作动器原理建立了偏心块的输出力方程以及包含参数变化、外部扰动及线性摩擦等不确定因素的永磁同步电机（PMSM）动态方程；然后，通过对离心式作动器输出力控制原理进行分析，结合滑模控制理论的特点，将离心式作动器偏心块相位控制期望信号引入滑模控制的滑模面方程，设计了基于PMSM电流环的变滑模面滑模控制律，并利用李雅普诺夫函数证明了所设计的滑模控制律的可达性和稳定性。最后，在MATLAB/Simulink环境下将所设计控制律应用于离心式作动器输出力控制进行了仿真实验，与现有方法相比，所设计控制律能够较好地同时跟踪期望谐波力的幅值、相位和频率，提高了离心式作动器跟踪精度和离心作动器启动时的输出力跟踪响应速度并具有较好的抗干扰能力。

Variable sliding mode sliding mode controller for centrifugal harmonic force generator

The actuator is one of the important subsystems that constitute the Active Control of Structural Response (ACSR) system of helicopters. Variable Sliding Mode Sliding Mode Control (VSMSMC) is proposed for achieving the simultaneous tracking of harmonic force amplitude, phase, and frequency, and precision in centrifugal harmonic force generator system. First, harmonic force equation and the Permanent Magnet Synchronous Motor (PMSM) dynamic equation which contains uncertainty factors such as parameter variations, external disturbances, and linear friction are established according to the principle of centrifugal harmonic force generator. Then, by analyzing the control principle of harmonic force and combining the characteristics of SMC, the expectation phase of the centrifugal harmonic force generator is introduced into the sliding mode equation of the SMC, and the VSMSMC is designed base on PMSM. Furthermore, the Lyapunov function is used to prove the accessibility and the stability of the VSMSMC. Finally, the performance of the VSMSMC is verified by simulation in MATLAB/Simulink. Compared with the existing method, the VSMSMC can track the amplitude, phase, and frequency of the desired harmonic force and leads to higher tracking accuracy and higher tracking speed when the centrifugal actuator starts.