CAJ | 학술논문

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.
설계료일충대적분활모면적자괄응모호활모공제계통,병장기응용우사복전동궤적위치화속도공제계통중.자괄응모호활모공제계통시유모호공제화hitting공제조성적,재모호공제설계중,용모호공제기래모의반궤선성화공제률;재hitting공제설계중,용hitting공제기래보상반궤선성화공제률화모호공제기지간적오차.조절산법시종Lyapunov은정성이론득도적,종이가이보증계통적은정성.이차위완해대근사오차계적수요,제출료일충오차고계궤제래실시관측근사오차계.방진결과증명료소설계적계통가이득도령인만의적근종성능,이차대삼수변화화외부부재우동구유로봉성.
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.