Dynamic surface sliding mode control method for heliostat of tower type photo-thermal power station

The invention relates to a dynamic surface sliding mode control method for a heliostat of a tower-type photo-thermal power station, and the method comprises the steps: building an elevating angle motor and azimuth angle motor system model based on the heliostat of azimuth pitching double-axis tracking, carrying out the magnetic hysteresis elimination of the system model, and obtaining a system model with the magnetic hysteresis eliminated; adopting a neural network to approach an unknown function in the system model for eliminating the magnetic lag, and designing an error conversion function and a tracking performance index function, so that the tracking errors of the elevating angle motor and azimuth angle motor system model meet preset performance indexes; through an asymmetric obstacle Lyapunov function, constraining the state of the system model of which the magnetic lag is eliminated; and a dynamic surface controller design method and a sliding mode surface controller design method are combined to design