Řízení technologických procesů pomocí klouzavých módů

Abstract

This work deals with design of control algorithms working in a sliding mode. The advantage of these control algorithms is a high robustness, simplicity, and the fact that it does not need knowledge of a mathematical model, only the control system’s order and the ability to measure control disturbances. The disadvantage is a high control activity, which is not useful for all types of control elements. There is described the primary approach to sliding control design, which consists in the extension of non-linear sliding control of an integration element. For the stabilization task this algorithm will significantly lower the activity of a control variable while maintaining its robustness. In case of following the state trajectory the activity of a control variable will also lower, if the change in the required trajectory is not too fast. For three selected subsystems the design of each algorithm procedure is shown. The accuracy of algorithms is verified with numerical simulation, as well as on the models directly.