自适应模糊滑模控制在伺服电动机系统中的应用

设计了一种带积分滑模面的自适应模糊滑模控制系统,并将其应用于伺服电动机的位置和速度控制系统中.自适应模糊滑模控制系统是由模糊控制和hitting控制组成的,在模糊控制设计中,用模糊控制器来模拟反馈线性化控制律;在hitting控制设计中,用hitting控制器来补偿反馈线性化控制律和模糊控制器之间的误差.调节算法是从Lyapunov稳定性理论得到的,从而可以保证系统的稳定性.而且为缓解对近似误差界的需要,提出了一种误差估计机制来实时观测近似误差界.仿真结果证明了所设计的系统可以得到令人满意的跟踪性能,而且对参数变化和外部负载扰动具有鲁棒性.

Application of Adaptive Fuzzy Sliding Mode Control to Servomotor System

An adaptive fuzzy sliding mode control (AFSMC) system with an integral-operation switching surface was adopted to control the position and speed control system of a servomotor. The AFSMC system was comprised of a fuzzy control design and a hitting control design. In the fuzzy control design a fuzzy controller was designed to mimic a feedback linearization (FL) control law. In the hitting control design a hitting controller was designed to compensate the approximation error between the FL control law and the fuzzy controller. The tuning algorithms were derived in the sense of the Lyapunov stability theorem, thus the stability of the system could be guaranteed. Moreover,to relax the requirement for the bound of approximation error, an error estimation mechanism was investigated to observe the bound of approximation error real-time. Simulation results verify that the proposed control systems can achieve favorable tracking performance and is robust with regard to parameter variations and external load disturbance.