双惯量伺服系统振动主动抑制方法  

Vibration Suppression of Servo System Based on Unknown Input Observer

作　　者：周立恒 董岩[1] 王伟[2] 宋建林 ZHOU Li-heng;DONG Yan;WANG Wei;SONG Jian-lin(School of Electronic Information Engineering,Changchun University of Science and Technology,Changchun 130022;School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022;Jilin Henghui Photoelectric Technology Company,Changchun 130022)

机构地区：[1]长春理工大学电子信息工程学院,吉林长春130022 [2]长春理工大学光电工程学院,吉林长春130022 [3]吉林珩辉光电科技有限公司,吉林长春130022

出　　处：《制造业自动化》2025年第4期99-105,共7页Manufacturing Automation

基　　金：科技部国家重点研发计划(2022YFB2803205);吉林省重大科技专项课题(20230301002GX)。

摘　　要：针对于双惯量系统中存在的机械谐振问题,提出了一种基于未知输入观测器的模糊滑模控制方法。此方法主要包含未知输入观测器和模糊滑模控制器两部分。观测器部分采用不变流形原理设计,实现对传递力矩的观测并对其进行补偿。在此基础上设计滑模控制器保证输出信号的跟踪精度,为了消除传统滑模控制本身存在的抖振问题,控制器部分提出了模糊控制与滑模控制相结合的方法,大大提高系统的动态响应性能。最后仿真验证了所提出方法的有效性。Aiming at the mechanical resonance problem in the dual inertia system,a fuzzy sliding mode control method based on unknown input observer is proposed in this paper.This method mainly includes two parts:the unknown input observer and the fuzzy sliding mode controller.The observer part is designed based on the principle of invariant manifold to observe and compensate the transmitted torque.On this basis,the sliding mode controller is designed to ensure the tracking accuracy of the output signal.In order to eliminate the chattering problem of the traditional sliding mode control itself,a combination of fuzzy control and sliding mode control is proposed at the controller part,which greatly improves the dynamic responsive performance of the system.Finally,the effectiveness of the proposed method is verified by simulation.

关 键 词：双惯量系统 机械谐振 未知输入观测器 模糊控制 滑模控制 

分 类 号：TH113.1[机械工程—机械设计及理论]