重载伺服系统的自适应摩擦补偿全局滑模控制  

Global Sliding Mode Control Based on Adaptive Friction Compensation for Heavy-load Servo Systems

作　　者：邵质中 钟国梁[1,2] 邓华[1,2] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学高性能复杂制造国家重点实验室,湖南省长沙市410083

出　　处：《计算机仿真》2016年第1期326-330,共5页Computer Simulation

基　　金：国家自然科学基金;重大科研仪器研制专项(51327902)

摘　　要：针对重载大惯量伺服运动系统受固有非线性摩擦影响,在速度正负切换时运动控制精度不高的问题,提出了一种基于自适应模糊摩擦逼近补偿的全局滑模控制策略。采用自适应模糊逼近的摩擦补偿方法,能避免精确摩擦建模过程和模型参数离线辨识的不便,实现非线性摩擦的在线补偿。结合全局滑模控制,通过设计非线性滑模面方程以实现系统在响应的全过程都具备鲁棒性,并在Lyapunov稳定性分析方法的基础上设计了模糊逼近自适应律。仿真结果证明了控制策略是有效的,有助于提高系统的运动跟踪精度。For heavy-load servo systems, tracking control at velocity reversal is a challenging problem due to inherent nonlinear friction. This paper proposes global sliding mode controller based on adaptive fuzzy friction compen- sation. In order to compensate nonlinear friction, we use the FLS （fuzzy logic system） that has the capability to ap- proximate any nonlinear function over the compact input space. In the proposed control schemes, an adaptive FLS pa- rameter tuning function is derived and applied for on-line friction compensation rather than tune the parameters by off -line friction model identification. In this controller, the robustness of whole responses in tracking process is realized by designing an exponential dynamic sliding surface. Moreover, the adaptive FLS parameter tuning function is devel- oped through the Lyapunov stability analysis. The simulation results demonstrate that the control strategy is effective to improve the tracking accuracy.

关 键 词：摩擦补偿 自适应模糊逼近 伺服系统 全局滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]