基于滑模控制的伺服系统的建模与仿真

Modeling and simulating based on sliding mode control for servo system

采用Stribeck摩擦模型,对转台伺服系统进行建模并设计了相应的滑模控制器,并对其控制效果进行了仿真分析。首先,确定了滑模控制器的切换函数,然后求解出其控制函数,设计了采用滑模控制的伺服系统控制方案,最后,根据仿真结果,分析了采用PD控制和滑模控制的控制效果异同。实验结果表明,采用滑模控制能够克服系统的不确定性,对干扰和未建模动态具有很强的鲁棒性,消除了系统的高频抖振,提高了跟踪精度,尤其是对非线性系统具有良好的控制效果,采用滑模控制的伺服系统可以有效地抑制摩擦带来的不良影响。

This paper uses the famous Stribeck model, a sliding mode controller is designed,and the system is simulated.Firstly,the paper determined its switching tunction,accordingly solving the control function.And then designed a scheme of the simulating table servo system,analyzed the control effect of PD control and sliding mode control＇s similarities and differences. PD control and sliding mode control of the control effect of similarities and differences. The experimental results show that the sliding mode control can overcome the uncertainty of the system, and have strong robustness to the interference and un-modeled dynamics. It eliminates the system＇s high frequency chattering and improves the tracking accuracy, and has good control effect especially for nonlinear system control, The servo system based on sliding mode control can effectively inhibit the adverse effects of friction.