链传动机械伺服系统的自适应模糊滑模控制

Adaptive Fuzzy Sliding Mode Control for Chain Driving Mechanical Servo System

针对存在啮合冲击、参数摄动以及非线性摩擦的链传动机械伺服系统的位置跟踪控制问题,提出了一种自适应模糊滑模控制方法.与常规自适应滑模控制不同的是,本文采用自适应策略估计系统时变参数,有效减小了模型不确定性的影响,然后采用模糊逻辑消除了常规滑模控制中的不连续控制项,削弱了抖振;用期望速度代替实际速度补偿非线性摩擦,减小了测量噪声的影响,改善了系统的控制性能.实验结果表明本文提出的算法对系统参数变化以及外部扰动不敏感,具有较高的控制精度.

An adaptive fuzzy sliding mode control scheme was proposed for the position tracking control of chain driving mechanical servo system in presence with meshing impact,parameter perturbations and nonlinear friction.Comparing with traditional adaptive sliding mode control,the adaptive scheme was adopted in this paper to estimate the time-varying system parameters instead estimating the upper bound of the model uncertainty,and the influence of model uncertainty was effectively reduced.And then a fuzzy logic system was designed to remove the discontinuous control term in the traditional sliding mode control,and the chattering in the control effort was reduced.Actual velocity was replaced by desired velocity in the nonlinear friction compensation,thus the influence of measurement noise was reduced,and the control performance was improved.Experimental results show that the proposed scheme is insensitive to parameter variations and external disturbance,and the control precision is high.