基于AFSMC的步进电机伺服系统控制研究  

Research on Control of Stepper Motor Servo Systems Based on AFSMC

作　　者：蒋赟 陈机林[1] 侯远龙[1] 金鹏程 尚国庆 Jiang Yun;Chen Jilin;Hou Yuanlong;Jin Pengcheng;Shang Guoqing(College of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《电气自动化》2020年第2期90-93,共4页Electrical Automation

摘　　要：针对步进电机伺服系统的高度非线性特征以及外部扰动变化的情况,设计自适应模糊滑模变结构(AFSMC)控制方法。基于滑模变结构控制的强鲁棒性,用模糊系统对系统中具有不确定性的参数进行自适应逼近,可有效降低切换增益和抑制系统的抖振。设计可调参自适应律经由Lyapunov理论分析保证了系统稳定性。仿真结果表明,控制策略相比传统滑模控制,可使系统快速稳定,有效削弱系统的抖振,抵抗外部干扰和提升位置跟踪动态性能。With respect to high nonlinearity of the stepper motor servo system and variations of external disturbance,the adaptive fuzzy sliding mode control(AFSMC)scheme was designed.Based on the strong robustness of the sliding mode variable structure control,the fussy system was used to realize adaptive approximation of uncertain parameters in the system,so as to effectively reduce switching gain and suppress system buffeting.The adaptive law obtained in the design and Lyapunov theoretical analysis ensured system stability.Simulation results indicated that,compared with traditional sliding mode control,the proposed control strategy could enable the system become stable quickly,effectively reduce system buffeting,resist external interference and improve dynamic position-tracking performance.

关 键 词：步进电机 滑模控制 位置伺服系统 自适应律 模糊控制 

分 类 号：TM383.6[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]