摘要
针对伺服系统由于受非线性摩擦力的影响而产生的"爬行"和"平顶"现象,提出了模糊趋近律方法,设计了基于T-S模糊模型趋近律的滑模控制器,并进行了实验和仿真研究.实验和仿真结果表明:所设计的控制器能有效地消除低速"爬行"和"平顶"现象,提高伺服系统的跟踪精度;同时该控制器能显著降低常规趋近律滑模控制器的抖振问题,改善控制品质.该控制器适用于控制品质要求高的伺服系统.
A fuzzy reaching law was proposed to eliminate the ＂crawling＂ and ＂flat top＂ problem of servo systems because of nonlinear friction, a sliding mode controller based on the T-S fuzzy model reaching law was designed, and the simulation and experimental tests were carried out. The results demonstrate the controller not only can effectively eliminate ＂crawling＂ and ＂flat top＂ phenomena and enhance the tracking accuracy of servo systems, but also can decrease the chattering of conventional reaching law sliding mode controllers significantly and improve control quality. Owing to the good fitness of this controller, it can be used in servo systems with high control performance.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
2008年第11期1328-1332,共5页
Journal of University of Science and Technology Beijing
基金
中国运载火箭技术研究院资助项目(No.70726001)
关键词
滑模变结构控制
伺服系统
非线性摩擦
模糊控制
趋近律
sliding mode variable structure control
servo system
nonlinear friction
fuzzy control
reaching law
