| 基于多Lyapunov函数方法的模糊滑模控制算法 |
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| 引用本文： | 杨治平,陈姗姗,聂振华.基于多Lyapunov函数方法的模糊滑模控制算法[J].机床与液压,2014,42(24):112-116. |
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| 作者姓名： | 杨治平 陈姗姗 聂振华 |
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| 作者单位： | 重庆电子工程职业学院,重庆,401331 |
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| 基金项目： | Foundation of Chongqing Education Com-mission，China (No KJ112203)Research of the Intelligent Control System of the Lower Limb Bone Robot；National Natu-ral Science Foundation of Chongqing Science ＆Technology Commission，China (No cstc2012jjA40028)The Coordina-tion Synchronization Control Research of Movement of the Wearable Type Lower Limb Outside Bone Robot and Human |
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| 摘 要： | 对于多电机操控的高复杂度机电系统，构建对多电机控制的通用性强的控制算法十分重要。给出了基于多Lyapunov函数方法设计的感应电机速度控制模糊滑模控制算法。在控制方案中，首先应用Lyapunov 函数方法设计感应电机的速度估计器；其次应用Lyapunov 函数方法设计滑模控制器；最后应用Lyapunov 稳定条件，设计模糊滑模控制器。整合的模糊滑模控制技术，为多电机控制提供了有效的参考。
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| 关 键 词： | Lyapunov 函数 多电机系统 速度传感器 滑模控制 模糊控制 |
Fuzzy sliding mode control algorithm based on multi-Lyapunov function method |
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| Zhi-ping YANG
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Shan-shan CHEN,Zhen-hua NIE.Fuzzy sliding mode control algorithm based on multi-Lyapunov function method[J].Machine Tool & Hydraulics,2014,42(24):112-116. |
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| Authors: | Zhi-ping YANG Shan-shan CHEN Zhen-hua NIE |
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| Abstract: | As to the high complexity mechanical electronic operation system under the motors, it is very important that gives the general control algorithm to control the motors. The study presents fuzzy sliding mode control algorithm based on multi-Lyapunov function method to control the motors speed. The control scheme, first, Lyapunov function method is applied to design speed estimator of the motors; second, Lyapunov function method is applied to structure the sliding mode controller; finally, applying Lyapunov stability condition, the fuzzy sliding mode controller is presented. Integration of fuzzy sliding mode control technology provides effective reference for the motors controlled. |
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| Keywords: | Lyapunov function Multi-motor system Speed sensor Sliding mode control Fuzzy control |
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