含摩擦的双电机伺服系统快速终端滑模控制

针对含LuGre稳态摩擦力的双电机伺服系统,通过引入含速度项的指数函数,提出一种连续可微的LuGre稳态摩擦模型,解决了原有模型不可微的缺点,该模型能够有效刻画Stribeck现象、库伦摩擦、粘滞摩擦等多种摩擦特征;为了进一步解决系统的同步和跟踪问题,基于该连续可微摩擦模型,引入表征同步率的可变系数设计了可变系数的快速终端滑模控制器,并运用Lyapunov方法证明了在给定控制律下,系统能够实现先同步控制后跟踪控制．仿真结果表明提出的控制方法具有快速收敛速度和高跟踪精度．

The fast terminal sliding mode control of dual-motor driving servo systems with friction

To solve the non-differentiable problem of original frictionmodel, an exponential function containing speed variables is introduced to design the continuous differentiable LuGre steady-state friction model for dual-motor driving servo systems. The proposed model captures the main characteristics of friction including Stribeck effect, coulomb and viscous friction.Based on the continuous differentiable model, a nonlinear variable coefficient characterizing the synchronization rate is used for fast terminal sliding mode, such that the system is proved to achieve synchronization and tracking control for the reference signal with prescribed performance by Lyapunov function.The simulations are included to verify fast convergence speed and high tracking precision of the proposed algorithm.