Self-adaptive regulation apparatus for controlling the position of actuators in an actuation system by means of the sliding-mode technique and corresponding method of operation

摘要

Described herein is a self-adaptive regulation apparatus for controlling the position of an actuation system (4) as a function of a switching surface (Ã(e)) comprising: a generator module (2,10) designed to generate a control signal (U(t)) for controlling the actuation system (4) in such a way as to move one or more actuators of the actuation system (4) into a series of pre-set positions; a processing module (5, 6), which acquires a set of measurements of the positions (X K ) of the actuator or actuators and the corresponding values (U K ) of the control signal U(t), and processes the latter by means of an algorithm for identification of a structural model of the actuation system (4) in such a way as to determine a first parameter (n) indicating the order of the structural model identified; and a synthesis module (9) designed to receive at input an error signal (e(t)) indicating the difference between a desired position (X d ) and a position measured (X K ) in the actuator or actuators present in the actuation system (4), and a second setting parameter (») of a switching surface (Ã(e)); the synthesis module (9) being designed to configure in an automatic way the switching surface (Ã(e)) to be used for control of the actuation system (4) as a function of the error signal (e(t)) and on the basis of the first parameter (n) and of said second parameter (»).