位置伺服系统模糊自适应滑模控制研究

Research on Fuzzy Adaptive Sliding Mode Control for Position Servo System

位置伺服系统对响应速度、定位精度、抗扰性能等要求越来越高,传统PID控制实现容易,但依赖对象数学模型、性能有限,很难满足高要求。滑模控制不依赖对象模型、适用性强,因此提出一种对指数趋近速率进行自适应调整的滑模控制方法。以位置伺服系统为对象,分别采用PID控制、滑模控制、模糊自适应滑模控制进行定位控制及抗扰动性能的仿真及试验。结果表明:模糊自适应滑模控制较PID控制在快速定位及抗扰动性能上均明显占优;相比普通滑模控制,其动态性能更好。因此对于要求响应速度快、抗扰性能强的位置控制应用场合,提出的模糊自适应滑模控制适用性更好,有一定的应用价值。

The position servo system has higher and higher requirements on response speed,positioning accuracy and anti-disturbance performance.Traditional PID control is easy to implement,but it depends on the object model and its performance is limited,so it is difficult to meet the high requirements.Sliding mode control does not depend on the object model and has strong applicability.Therefore,a fuzzy adaptive sliding mode control method for position servo system was proposed,by which the exponential reaching rate was adaptively adjusted.Taking the position servo system as the object,the simulation and experiments for position control and anti-disturbance performance were carried out by using the methods of PID control,sliding mode control and fuzzy adaptive sliding mode control.The results show that the fuzzy adaptive sliding mode control is superior to the PID control in fast position and anti-disturbance performance;compared with the ordinary sliding mode control,the fuzzy adaptive sliding mode control has better dynamic performance.Therefore,the proposed fuzzy adaptive sliding mode control has better applicability and certain application value in those applications where need fast response and strong anti-disturbance performance.