基于扩张状态观测器的伺服加载模糊滑模控制

针对电动伺服加载测试台存在的间隙、摩擦等非线性控制问题，以滑模变结构控制（SMC）为主体进行了加载控制器设计。分析伺服加载测试台整体结构，提出一种基于扩张状态扰动观测器（ESO）的模糊滑模控制（FSMC）策略。该策略在使用ESO针对伺服加载系统的外部干扰进行观测的基础上，设计了模糊控制对滑动模态面和滑模趋近律进行自适应调节，提高了系统的动态实时跟随能力和干扰补偿能力，并减小SMC控制器稳定时的抖振现象。仿真结果表明：所设计的基于扩张状态观测器的模糊滑模控制器（FSMC-ESO）对比传统SMC及PID控制具有更好的快速响应性和鲁棒性。

Fuzzy Sliding Mode Control of Servo Loading Based on Extended State Observer

In order to solve the nonlinear control problem such as clearance and friction existing in the electric servo loading test bench,the sliding mode variable structure control (SMC) was used as the main body to design the loading controller.The whole structure of the servo loading test bench was studied,and a fuzzy sliding mode control (FSMC) strategy based on extended state disturbance observer (ESO) was proposed.On the basis of using ESO to observe the external interference of system,the fuzzy control was designed to adjust the sliding mode surface and sliding mode approach law adaptively,which improved the dynamic real-time following ability and interference compensation ability of the system,and reduced the chattering of the SMC.The simulation results show that the designed fuzzy sliding mode controller based on extended state observer has faster response and robustness than SMC and PID controller.