基于自适应模糊控制的X-Y平台滑模控制

首先描述了X-Y数控平台系统及模型建立,然后提出了一种自适应模糊滑模控制的力/位置控制方法.在位置控制部分采用自适应模糊控制去逼近不确定项,用滑模控制器对逼近误差及外部的干扰进行补偿控制;力控制回路采用小脑模型神经网络(CMAC)确定相应模糊调整因子的模糊控制器,把力控制器输出作为位置控制的修正值,通过提高位置的控制精度达到控制力的目的.仿真结果表明,该方法使平台系统的控制精度得到了改善,并对外界环境接触刚度的变化具有一定的自适应性和鲁棒性.

Sliding Mode Control of X - Y Table Based on Adaptive Fuzzy Control

First the X- Y numerical control table system and the model building was described. A kind of force/position control method for the uncertain of X - Y numerical control table was presented. Adaptive fuzzy control is used to approach uncertain item and sliding mode control is used to compensate approximate error and the exterior disturbance, in position control part. The force control loop uses CMAC to determine the cor-responding fuzzy adjustment factor of the fuzzy control, outputs of the force controller takes the corrected val-ue of the positioh, through enhances the position control precision to achieve the goal of control force. The simulation results indicate that this method enable the table system's control precision to be improved, and have certain adaptive capability and robustness to the external environment contact.