基于模糊滑模的两轴伺服系统轮廓误差交叉耦合控制算法

针对两轴伺服系统轮廓误差控制问题,提出一种基于模糊滑模的交叉耦合轮廓误差控制方法。设计了单轴模糊滑模跟踪控制器,用于消除干扰作用。将模糊控制器用于自适应调节滑模控制器切换增益,减小滑模控制的抖振现象。采用交叉耦合控制算法进行两轴间的协调控制,解决轴间参数不匹配的问题,保证轮廓控制精度。仿真结果表明:该方法能有效提高跟踪精度和轮廓精度。

Contour Error Cross Coupling Control Algorithm for Two-axis Servo System Based on Fuzzy Sliding Mode

Aimed at the contour error control problem of two axis servo system, a cross coupling contour error control method based on fuzzy sliding mode was proposed. A single axle fuzzy sliding mode tracking controller was designed to eliminate disturbance. The fuzzy controller was used to adjust the switching gain of the sliding mode controller adaptively to reduce the chattering phenomenon of the sliding mode control. The cross coupling control algorithm was used to coordinate the control between two axes to solve the problem of mismatching parameters between the axes and ensure the contour control accuracy. The simulation results show that the tracking accuracy and contour accuracy can be improved effectively by using this method.