为解决复合材料压机多轴调平系统的控制精度不高的问题,将滑模变结构控制算法应用到多轴调平系统中.开展了多轴调平系统的不平衡机理、调平控制策略及算法的研究,建立了多轴调平系统的数学模型.结合基于双曲正割函数改进的指数趋近律,提出了一种多输入多输出滑模变结构控制算法,给出了控制器的设计方法,并将其应用到滑块的水平控制中.通过仿真分析和试验验证相结合的方式验证了算法的有效性.研究结果表明:该控制器能削弱抖振,使多轴调平的滑块系统快速准确地进行调平,能较好地抑制干扰和未建模动态,提高了系统的鲁棒性,且控制器简单,易于实现.%In order to solve the problem that the control precision is not high, the sliding mode variable structure control algorithm was applied to the multi-axis leveling system. After the analysis of the unbalance mechanism, the leveling control strategy and algo-rithm of the multi-axis leveling system, the mathematical model of the multi-axis leveling system was established. The sliding mode variable structure control algorithm was proposed with the improvement of the index reaching law which is based on the hyperbolic secant function. The controller design method was proposed and applied to the level control of the slider. The effectiveness of the algorithm was verified by simulation analysis and experiment. The results indicate that the proposed controller can reduce the chat-tering and restrain the disturbance and unmodeled dynamics to improve the robustness of the system. It is simple and easy to im-plement to make the multi-axis leveling system fast and accurate.
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