The combination of DC-DC buck power converters with DC motors for generating the so-called smooth start of drives has many advantages in engineering practice. Achieving high performance of such systems is, however, limited by the influence of disturbances/uncertainties of multiple sources. Some of the disturbances are mismatched, which makes them even more difficult to handle. Furthermore, the relatively high order of system dynamics makes the control design challenging. In this paper, a control structure with continuous dynamic sliding mode controller with a finite-time disturbance observer is proposed to address these practical issues. First, a special state transformation is applied, aggregating the acting disturbances/uncertainties in a sole perturbing term of the system expressed in new coordinates. Then, the observer estimates in real time the information about the lumped disturbances based on already available input/output signals and the obtained estimated signals (and their high order time-derivatives) are used to construct a sliding surface. Finally, the sliding mode controller is applied to achieve high performance of the resultant plant dynamics and to robustify the governing scheme against modelling discrepancies. The stability of the closed-loop system is proved here using Lyapunov stability theory and the efficiency of the proposed control method is validated through a multi-criteria numerical simulation.

中文翻译：

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具有高阶失配扰动补偿的变流器直流电机系统的连续动态滑模控制

DC-DC 降压电源转换器与直流电机相结合以产生所谓的驱动器平滑启动在工程实践中具有许多优势。然而，实现此类系统的高性能受到多源干扰/不确定性影响的限制。一些干扰是不匹配的，这使得它们更难以处理。此外，相对高阶的系统动力学使得控制设计具有挑战性。在本文中，提出了一种具有有限时间扰动观测器的连续动态滑模控制器的控制结构来解决这些实际问题。首先，应用一种特殊的状态转换，在以新坐标表示的系统的唯一扰动项中聚合作用扰动/不确定性。然后，观察者根据已有的输入/输出信号实时估计有关集中扰动的信息，并且使用获得的估计信号（及其高阶时间导数）来构建滑动面。最后，应用滑模控制器来实现所得到的设备动力学的高性能，并针对建模差异加强控制方案。这里使用李雅普诺夫稳定性理论证明了闭环系统的稳定性，并通过多准则数值模拟验证了所提出的控制方法的效率。应用滑模控制器来实现所得到的设备动力学的高性能，并针对建模差异加强控制方案。这里使用李雅普诺夫稳定性理论证明了闭环系统的稳定性，并通过多准则数值模拟验证了所提出的控制方法的效率。应用滑模控制器来实现所得到的设备动力学的高性能，并针对建模差异加强控制方案。这里使用李雅普诺夫稳定性理论证明了闭环系统的稳定性，并通过多准则数值模拟验证了所提出的控制方法的效率。