十字梁实验系统的分层变结构控制

为了探巡到一种适用于实际系统，能消除常值干扰的分层变结构控制系统，本文依据十字梁控制系统的特点、分层控制理论和变结构控制理论，提出将系统分成多层，对每一层进行变结构控制器的设计思想．在前人理论推导的基础上，设计了十字梁实验系统的分层变结构控制器，并进行了仿真．仿真结果表明，该系统具有较好的抗干扰性和鲁棒性．

The Layer VSS Control of Cross Beam Experiment System

To find an apprach to the elimination of interferences,a practical layered variable structure control system,this research puts forward a design solution: the systen is divided into multi-level,designign variable stnucture of hierarchical control thevry.On the basis of the previous theoretical deriviations,the cross-beam experimental system of stratification variable structure contrller is designed and simulated as well.The simulation results shou that the system if of better anti-interference and robustnes...