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After analysing the dynamic characteristics of sliding mode in the boundary layer, a non-linear saturation function subject to proportion-integral-differential control in order to eliminate the chattering is proposed.
最后，通过分析变结构控制系统中滑动模态在边界层内的动态特性，推导出基于比例-积分-微分控制的非线性饱和函数消除抖振方法。
参考来源 - 汽车行驶车间纵向距离自适应控制系统的研究·2,447,543篇论文数据，部分数据来源于NoteExpress
在控制器中引入了饱和函数，降低了控制增益的大幅切换，保证了定子电压的稳定性。
Introduces the saturation function into controller, reduces the wide-range switch of control gain, ensures the stability of stator voltage.
同时对变结构控制律中包含的符号函数项，采取了用饱和函数来代替的方法以尽可能地抑制变结构系统所带来的抖振。
The symbolic function in the variable structure control is replaced by the saturation function to reduce the chattering which is brought by the variable structure control system.
在设计控制系统时，滑模控制滑模面通过最小化最优价值函数得到，控制器采用饱和控制器。
In the process of control design, the sliding surface of sliding mode control is determined by minimizing the optimal cost function, and the controller is the saturation controller.
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