一种伺服电动机混合速度控制器的设计

A Hybrid Controller for the Servomotors

设计了一个由滑模控制器和神经模糊控制器组成的伺服电动机混合速度控制器。为了得到一个既能削弱抖振现象又能得到快速、光滑动态响应的伺服电动机速度控制系统,应用误差带方法,系统用滑模控制在瞬态阶段得到快速动态响应,用神经模糊控制在稳态阶段得到光滑动态响应。分别用滑模控制和混合控制对系统进行了仿真和实验,验证所设计控制器的性能,并对结果进行了详细对比。

This paper introduces a hybrid controller（HC） which consists of a parallel connected sliding mode controller（SMC） and a neuro-fuzzy controller（NFC） for the speed control of a servomotor drive.The aim of this study is to obtain a controller that eliminates the chattering phenomenon and provides a fast and smooth dynamic response for the speed control of a servomotor drive.Therefore,with an error band method,the system was controlled by the SMC to get a fast dynamic response in transient mode and was also controlled by the NFC to get a smooth dynamic response in steady state mode.To illustrate the performance of the proposed controller,the simulation and experimental studies were presented separately for the SMC and the HC.The results were compared with each other and discussed in detail.