针对部分状态不可测且带有摩擦和外部干扰的机电伺服系统,结合扩张状态观测器和自适应滑模技术,提出一种基于非线性扩张状态观测器的位置伺服控制策略。扩张状态观测器用于准确估计和补偿系统摩擦和外部干扰的影响,同时取消了系统所有状态完全可测的限制。观测器参数通过极点配置法确定,从而简化观测器的参数整定过程。在此基础上,设计自适应滑模控制器,保证系统位置状态快速稳定地跟踪期望信号。仿真结果表明,该控制器能够改善传统滑模控制容易产生的抖振问题,并提高系统的鲁棒性。 Aiming at the electromechanical servo system with some unmeasured conditions and friction and external disturbance, a new position servo control strategy based on nonlinear state of expansion observer is proposed based on the extended state observer and the adaptive sliding mode technique. Expanded state observers are used to accurately estimate and compensate for the effects of system friction and external disturbances, while eliminating the limits of fully measurable state of all systems. Observer parameters are determined by the pole placement method to simplify the observer parameter tuning process. On this basis, an adaptive sliding mode controller is designed to ensure that the position of the system can track the desired signal quickly and stably. The simulation results show that the controller can improve the chattering problems easily caused by the traditional sliding mode control and improve the system robustness.