基于扰动观测和摩擦补偿的气动摆角伺服系统滑模控制

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关键词：气动摆角伺服系统；摩擦补偿；扰动观测；非奇异快速滑模；超螺旋算法中图分类号：TP273DOI：10.3969/j.issn.1004-132X.2025.11.011

Abstract：External uncertain disturbances and friction were important factors affecting the control per formance of pneumatic swing angle servo systems（causing local fluctuations and creep phenomena）.A sliding mode control strategy was proposed based on disturbance observation and friction compensation，an improved extended state observer was designed to observe external uncertain disturbances by introducing a hyperbolic tangent function and angular velocity error term to enhance the disturbance rejection ability of systems.Since the observer might not efectively observe the static-dynamic high-order jump of system friction，which leaded to ineffective improvement of the creep phenomenon，therefore the friction torques were identified to makeup for the insufficient observation.Finally，aiming atthe insufficient robustness and dificulty in tuning control parameters of the systems，a nonsingular fast sliding mode controller was designed. The controller outputs were smoothed by using the super-twisting algorithm with integral characteristics to improve the inherent chatering problems in sliding mode control，and the disturbance observation values and friction torque identification values were feedback compensated. Simulation and experimental results show that compared with four control strategies，the proposed control method efectively enhances the disturbance rejection ability of the systems and improves the trajectory tracking performance of the pneumatic swing angle servo systems.

Key Words： pneumatic swing angle servo system；friction compensation； disturbance observation; nonsingular fast sliding mode；super-twistingalgorithm

0 引言

气动摆角伺服系统具备安全性高、可调性强、结构简单和能源清洁等特点，普遍应用于大幅度周向和周期摆动场合[1-3]。（剩余19139字）