转台伺服摩擦系统模糊滑模控制仿真

滑模控制是一种非线性控制策略,能够根据当前状态实现自适应的变结构运动,能够实现伺服系统的快速响应,并克服低速状态下摩擦力矩的影响。鉴于常规滑模控制有严重的抖振现象,系统通过引入柔性的模糊控制,通过模糊控制算法改变其切换增益,实现不确定项的消除。以直流电动伺服系统为被控对象,建立了其数学模型和摩擦模型,实现了基于切换增益的模糊滑模控制器的设计,软件仿真结果表明论文所设计的滑模控制器能达到较好的控制品质,有效的克服系统抖振,实现系统低速摩擦补偿。

Simulation of fuzzy sliding mode control for servo turntable friction system

Sliding mode control is a special nonlinear control strategy which can realize variable structure control adaptively with current condition,which quick response is achieved and the impact of friction torque at low speed is eliminated.As for the serious chattering in traditional sliding mode control,a soft fuzzy control is introduced,the switching gain is changed by fuzzy control algorithm to eliminate the uncertainty.With DC motorized servo system as a controlled object,the mathematical models and friction model are built and the fuzzy sliding mode controller based on switch gain is designed.The simulation shows that the sliding mode controller with good control performance reduces chattering effectively and friction compensation at low speed is realized.