摘要
对于多电机操控的高复杂度机电系统,构建对多电机控制的通用性强的控制算法十分重要。给出了基于多Lyapunov函数方法设计的感应电机速度控制模糊滑模控制算法。在控制方案中,首先应用Lyapunov函数方法设计感应电机的速度估计器;其次应用Lyapunov函数方法设计滑模控制器;最后应用Lyapunov稳定条件,设计模糊滑模控制器。整合的模糊滑模控制技术,为多电机控制提供了有效的参考。
As to the high complexity mechanical-electronic operation system under the motors,it is very important that gives the general control algorithm to control the motors.The study pres-ents fuzzy sliding mode control algorithm based on multi-Lyapunov function method to control the motors speed.The control scheme,first,Lyapunov function method is applied to design speed estimator of the motors;second,Lyapunov function method is applied to structure the sliding mode control er;final y,applying Lyapunov stability condition,the fuzzy sliding mode control er is presented.Integration of fuzzy sliding mode control technology provides effective reference for the motors control ed.
出处
《机床与液压》
北大核心
2014年第24期112-116,共5页
Machine Tool & Hydraulics
基金
Project supported by Foundation of Chongqing Education Commission,China(No KJ112203):Research of the Intelligent Control System of the Lower Limb Bone Robot
National Natural Science Foundation of Chongqing Science&Technology Commission,China(No cstc2012jjA 40028):The Coordination Synchronization Control Research of Movement of the Wearable Type Lower Limb Outside Bone Robot and Human(cstc2012jjA 40028)
