交流伺服驱动系统动态建模及控制

Dynamic Modeling and Control on AC Servomechanism

根据交流伺服驱动系统的等效电路模型,建立了由伺服驱动电机到卷扬机的机电系统的动态模型。在该模型中不但考虑了摩擦非线性环节的影响,而且还考虑了未建模动态等干扰的影响。在此基础上,进一步针对该交流伺服驱动系统,设计了一种模糊滑模控制方法。这种方法通过分阶段地加入指数趋近控制来加快系统响应,同时利用模糊控制器实时调整滑模控制的趋近律参数,不仅保证了控制系统的快速性和鲁棒性,而且有效地削弱了滑模控制的颤动。另外,该控制方案设计简单,便于工程应用。实例数值计算表明,这种控制方法能够获得良好的控制精度和较强的鲁棒性。

According to the equivalent circuit of the alternating current（AC） servomechanism, the dynamic model of the electromechanical coupling system was developed in the presence of internal model uncertainties in both nonlinear friction and servomechanism dynamics and external disturbances. Due to the inherent characteristics of the nonlinear structure, a novel control method combining sliding mode control with fuzzy logic control was designed for the sake of realizing the desired performance of the object. The approach applied fuzzy controller to adjust the parameters of reach law of sliding mode timely. At the same time the exponent approximating control was added by grading. This approach ensures the speediness and robustness of the control system, and can weaken chattering,and the design of the control system is simple and it can be easily applied in the engineering. An example of the servomechanism model on the algorithm was carried out, and its effectiveness and higher robustness were confirmed.