伺服系统自学习变结构控制器设计

针对某高校精度伺服系统速率平稳性的要求，给出了高精度伺服系统的一种具有自学习律变结构控制器设计方法，减弱了周期性力矩波动对速率系统性能的影响，并且证明了该方法的稳定性和鲁棒性，实验结果表明，该控制器具有良好的控制性能和鲁棒性能，而且有效地保证了高精度伺服系统速率的平稳性指标要求。

The design of self-learning variable structure controller of servo system

Directed to the velocity smoothness requirement of high precision servo system, the self-learning variable structure controller is proposed. This design method weakens the torque fluctuation's influence on system performance. The stability and robustness are proved. The experiment shows this controller has good performance and robustness, and guarantees the velocity smoothness of high precision servo system.