| 非线性摩擦干扰下伺服系统模糊趋近律滑模控制 |
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| 引用本文： | 彭书华,李华德,苏中. 非线性摩擦干扰下伺服系统模糊趋近律滑模控制[J]. 北京科技大学学报, 2008, 30(11) |
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| 作者姓名： | 彭书华 李华德 苏中 |
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| 作者单位： | 1. 北京信息科技大学自动化学院,北京,100101
2. 北京科技大学信息工程学院,北京,100083 |
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| 基金项目： | 中国运载火箭技术研究院资助项目 |
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| 摘 要： | 针对伺服系统由于受非线性摩擦力的影响而产生的"爬行"和"平顶"现象,提出了模糊趋近律方法,设计了基于T-S模糊模型趋近律的滑模控制器,并进行了实验和仿真研究. 实验和仿真结果表明:所设计的控制器能有效地消除低速"爬行"和"平顶"现象,提高伺服系统的跟踪精度;同时该控制器能显著降低常规趋近律滑模控制器的抖振问题,改善控制品质. 该控制器适用于控制品质要求高的伺服系统.
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| 关 键 词： | 滑模变结构控制 伺服系统 非线性摩擦 模糊控制 趋近律 |
Sliding mode control of servo systems with nonlinear friction based on a fuzzy reaching law |
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| PENG Shuhua,LI Huade,SU Zhong. Sliding mode control of servo systems with nonlinear friction based on a fuzzy reaching law[J]. Journal of University of Science and Technology Beijing, 2008, 30(11) |
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| Authors: | PENG Shuhua LI Huade SU Zhong |
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| Affiliation: | PENG Shuhua1,2),LI Huade1),SU Zhong2)1) School of Information Engineering,University of Science , Technology Beijing,Beijing 100083,China 2) School of Automation,Beijing Information Science , Technology University,Beijing 100101,China |
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| Abstract: | A fuzzy reaching law was proposed to eliminate the crawling and flat top problem of servo systems because of nonlinear friction,a sliding mode controller based on the T-S fuzzy model reaching law was designed,and the simulation and experimental tests were carried out.The results demonstrate the controller not only can effectively eliminate crawling and flat top phenomena and enhance the tracking accuracy of servo systems,but also can decrease the chattering of conventional reaching law sliding mode controll... |
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| Keywords: | sliding mode variable structure control servo system nonlinear friction fuzzy control reaching law |
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