不确定伺服系统的模糊自适应NTSM控制

Control of Uncertain Servo System Based on Fuzzy Adaptive NTSM

针对永磁同步电机伺服系统内因结构参数变化和末端负载变化带来的控制问题,提出了1种结合模糊控制理论的新型自适应非奇异终端滑模控制策略。首先,在传统滑模控制理论基础上设计结构参数自适应律,消除系统结构参数变化的影响;然后,利用模糊控制理论估计负载扰动的上界,减小了滑模控制的抖动问题,进而通过构造非奇异终端滑模面,提高了伺服系统的响应能力;最后,为了缩小系统的跟踪误差,设计了基于误差积分的非奇异终端滑模面。离散化仿真结果表明,所提出控制算法对系统结构参数变化和负载变化具有良好的鲁棒性。

In order to control the uncertain permanent magnet synchronous motor(PMSM)servo system,a new adaptive nonsingular terminal sliding mode control method combined with fuzzy theory is proposed in this paper.Firstly,adaptive algorithms are designed to estimate the changes of the unknown structural parameters based on sliding mode control.At the same time,the fuzzy control is used to observe the upper limit of the disturbance to decrease the system's chattering.Then a nonsingular terminal sliding mode is used to increase the response ability.Finally,a improved nonsingular terminal sliding mode based on the integral of error is designed to reduce the dynamic error.The discrete simulation results demonstrate the proposed method's robustness to the change of structural parameters and disturbance.