基于LuGre模型的伺服转台自适应反演滑模控制

为降低摩擦力矩对机电伺服转台控制精度的影响,提出了自适应反演滑模控制方法;分析了伺服系统的原理,并应用LuGre模型对摩擦力矩进行了建模;在此基础上结合滑模控制和反演法,提出了自适应反演滑模控制(ABSM)算法;将ABSM控制器与原有的PID控制器进行了仿真对比实验。结果表明:所设计的控制器增强了系统的鲁棒性,大幅提高了控制精度。

Adaptive Backstepping Sliding Mode Control of Servo Turntable Based on LuGre Model

The friction torque has serious influence over control accuracy of electromechanical servo turntable.In response to this defect,an adaptive backstepping sliding mode control method was proposed.Firstly,the principle of servo system was analyzed,and the friction model was set up according to LuGre model.Then,the sliding mode control and backstepping algorithm were combined to design adaptive backstepping sliding mode （ABSM）controller.Finally,simulation experiments were finished to compare control performance of ABSM controller and PID controller.The simulation results show that,compared with the control accuracy of the PID controller,ABSM controller enhances the robustness of system,and approves control accuracy of servo turntable evidently.