混合输入机构精确实现给定运动的模糊滑模控制

Fuzzy Sliding Mode Control of Hybrid Mechanism Based on Tracking Motion of Constant Velocity Motor

混合输入机构运行过程中,由于负载、惯性力等变化,引起常速电机速度的波动,会影响输出运动的精度。针对混合输入机构中常速电机可测不可控的特点,实时检测常速电机的角位置,并对系统的动力学模型进行简化。提出了基于常速电机位置跟踪的控制策略对伺服电机进行控制,并给出了控制框图。考虑系统参数的不确定和外部扰动,设计了模糊滑模变结构控制器实现混合输入机构的轨迹跟踪,应用模糊推理确定切换控制的幅值和采用软切换连续控制的方法减小抖振。仿真结果表明本文方法正确有效。

The constant velocity motor will cause the velocity fluctuation due to the changing load and inertial force in the runing. The fluctuation can not be compensated by reason of the constant velocity itself which is lack of control function. The dynamic model of hybrid machanism is simplified with real-time detecting the angular displacement of constant velocity motor. The general strategy for control servomotor based on tracking the motion of constant velocity motor is proposed. A fuzzy sliding mode controller in considering the errors of dynamic parameters and external disterbance is desigened for tracking the trajectory of hybrid machanism. The amplitude of switch gain is determined by fuzzy logic system, and the chatter in sliding mode control is distinctly decreased. The results of simulation show the effectiveness of the method and the controller.