モデル規範形入力端周波数整形スライディングモード制御の電気油圧サーボモータへの応用

抄録

This paper deals with an extension of the frequency-shaped sliding mode control with pre-filter (FS-SMC-PF), which was originally proposed by Ito and Nonami and partly modified by Yanada and Ohnishi, to model reference control. In this paper, it is revealed that the FS-SMC-PF scheme has an undesirable nature in that the break frequency of the pre-filter automatically shifts from an assigned value to a value determined by the eigenvalues assigned to the sliding mode dynamics and a plant parameter. A reference model is introduced to remove the undesirable effect that the nature influences on the control performance. The model reference FS-SMC-PF scheme is applied to an electrohydraulic position control system. The effects of the break frequencies of two lowpass filters used for FS-SMC-PF on the control performance are investigated. In addition, the robustness of the scheme is examined under various conditions and compared with that of a usual SMC and an LQ-based robust control using a disturbance observer. It is shown that the model reference FS-SMC-PF scheme possesses very high robustness to modeling error, parametric variation and steady disturbance.