基于模型的伺服系统自适应滑模控制研究  

Study on Servo System Based on Model Reference Adaptive Sliding Mode Control

作　　者：闫康[1] 刘云清[1] 董岩[1] 

机构地区：[1]长春理工大学电子信息学院,吉林长春130022

出　　处：《计算机仿真》2014年第9期351-355,共5页Computer Simulation

基　　金：国家自然科学基金(61077056)

摘　　要：在伺服系统优化控制设计问题的研究中,对于伺服转台控制系统,当系统进行低速跟踪时,由于摩擦力矩的存在,会使系统出现低速爬行现象。针对伺服电机运行时产生的摩擦扰动,进行理论分析与研究,提出一种补偿摩擦力矩的控制器,使系统满足高精度要求。在MATLAB仿真平台上,建立滑模自适应控制器的控制系统仿真模型,仿真结果表明滑模自适应控制器不仅对模型参数的随机性具有自适应的能力,而且对摩擦扰动和其他扰动信号具有鲁棒稳定性。采用滑模自适应控制器的伺服系统可以获得较高的跟踪精度的同时具有一定的鲁棒稳定性,且系统抖振较小。For a servo control system, when the system is in the low speed tracking, the low speed crawl phenomenon appear in the system as a result of the friction torque existence. In this article, we gave some theory analysis in view of the friction disturbance when the servo motor was running. A kind of friction torque compensation controller was presented, which satisfies high precision requirement. On MATLAB simulation platform, we established a simu- lation model of the adaptive sliding mode controller, and the simulation results show that adaptive sliding mode con- troller has not only the adaptive ability for the randomness model parameters, but also robust stability for the friction disturbance and other disturbance signal. The servo system using the adaptive sliding mode controller can obtain higher tracking precision and certain robust stability at the same time, and the system chattering is smaller.

关 键 词：伺服电机 摩擦模型 滑模控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]