基于反演终端滑模算法的目标定位转台伺服系统控制器设计  

Design of target positioning turntable servo system controller based on the backstepping terminal sliding mode algorithm

作　　者：苏飞 张希 段艳宾[3] 魏文魁 SU Fei;ZHANG Xi;DUAN Yanbin;WEI Wenkui(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,CHN;State-owned Machinery Factory of Wuhu,Wuhu 241000,CHN;The 54th Research Institute,China Electronics Technology Group Corporation,Shijiazhuang 050081,CHN)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]国营芜湖机械厂,安徽芜湖241000 [3]中国电子科技集团公司第五十四研究所,河北石家庄050081

出　　处：《制造技术与机床》2023年第7期94-99,共6页Manufacturing Technology & Machine Tool

摘　　要：在目标定位转台伺服系统运行过程中,传动机构的齿轮间齿隙会导致驱动延时和响应迟滞,严重影响转台运行的稳定性。为此研究了一类具备齿隙的目标定位转台伺服系统跟踪控制问题,得出了一种新颖的基于反演终端滑模算法的控制方案。首先,建立目标定位转台伺服系统的状态空间模型,运用死区函数描述齿隙非线性,并设计连续可微函数对死区函数进行拟合;其次,利用反演控制方法和终端滑模控制方法,为伺服系统设计了虚拟控制器和实际控制器,利用Lyapunov理论证明了闭环控制系统的渐进稳定性;最后,搭建了仿真系统和实验平台,并与使用常规PID控制器的实验仿真结果进行对比,验证了文章所提出控制器的有效性和优越性。During the operation of the target positioning turntable servo system,the problem of drive delay and response delay caused by backlash in transmission can seriously affect the stability of the tamable.In this paper,a novel backstepping terminal sliding mode control algorithm is proposed to deal with the problem of tracking control of servo system with backlash.Firstly,the state space of the target positioning turntable servo system is established,the dead zone function is introduced to describe the nonlinearity of the backlash,and the continuous differentiable function is designed to fit the dead zone function.Secondly,by utilizing the backstepping control method and terminal sliding mode control method,the virtual controller and actual controller are designed for the servo system.The asymptotic stability of the closed-loop system is proved by Lyapunov theory.Finally,the simulation system and experimental platform are performed.Compared with the result of conventional PID controller,the effectiveness and superiority of the control method proposed in this paper are verified.

关 键 词：目标定位转台伺服系统 齿隙补偿 永磁同步电机 终端滑模控制 反演控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]