| 伺服系统模糊滑模控制器的设计与仿真 |
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| 引用本文： | 逄海萍,江姝妍. 伺服系统模糊滑模控制器的设计与仿真[J]. 系统仿真学报, 2005, 17(12): 2972-2974,2978 |
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| 作者姓名： | 逄海萍 江姝妍 |
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| 作者单位： | 1. 青岛科技大学自动化与电子工程学院,山东,青岛,266042;中国海洋大学信息科学与工程学院,山东,青岛,266071
2. 洛阳工业高等专科学校自动化系,河南,洛阳,471003 |
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| 摘 要： | 将模糊逻辑控制与滑模控制相结合，给出了一种模糊滑模控制器的设计方法。并针对伺服系统具有参数变化范围大、干扰源多等特点，设计了基于模糊滑模控制的伺服系统的结构。最后将该方法用于某机器人的机械臂的控制，并在参数大范围变化、正弦扰动作用等条件下进行了仿真。仿真结果表明，模糊滑模控制能有效地削弱传统滑模控制的“抖动”现象，并且在一定条件下具有很强的鲁棒性。
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| 关 键 词： | 模糊逻辑控制 滑模控制 模糊滑模控制 伺服系统 |
| 文章编号： | 1004-731X（2005）12-2972-09 |
| 收稿时间： | 2004-10-11 |
| 修稿时间： | 2004-10-112005-08-09 |
Design and Simulation of Fuzzy Sliding Mode Controller for Servo Systems |
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| PANG Hai-ping,JIANG Shu-yan. Design and Simulation of Fuzzy Sliding Mode Controller for Servo Systems[J]. Journal of System Simulation, 2005, 17(12): 2972-2974,2978 |
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| Authors: | PANG Hai-ping JIANG Shu-yan |
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| Affiliation: | 1. College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266042, China; 2. College of Information Science and Engineering, Ocean University of China, Qingdao 266071, China; 3. Department of Automation, Luoyang College of Technology, Luoyang 471003, China |
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| Abstract: | Integrating fuzzy logic control and sliding mode control, a new design method of fuzzy sliding mode controller is introduced, Then a system structure based on fuzzy sliding mode control is proposed for servo systems with large parameter variations and external disturbances. Finally, this method is applied to control one arm of a robot, and the simulations are given respectively when the object parameters changed in a large range and the system are affected by sinusoidal disturbances. Simulation results show that the fuzzy sliding mode control can reduce chatting aroused by conventional sliding mode control and at the same time it has high nerformance of robustness under certain conditions. |
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| Keywords: | fuzzy logic control sliding mode control fuzzy sliding mode control servo systems |
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