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针对伺服系统由于受非线性摩擦力的影响而产生的“爬行”和“平顶”现象,提出了模糊趋近律方法,设计了基于T-S模糊模型趋近律的滑模控制器,并进行了实验和仿真研究.实验和仿真结果表明:所设计的控制器能有效地消除低速“爬行”和“平顶”现象,提高伺服系统的跟踪精度;同时该控制器能显著降低常规趋近律滑模控制器的抖振问题,改善控制品质.该控制器适用于控制品质要求高的伺服系统.
Aiming at the phenomenon of “crawling” and “flat roof” caused by the nonlinear friction force in servo system, a fuzzy approach law is proposed and a sliding mode controller based on the TS fuzzy model approach law is designed The experimental and simulation results show that the designed controller can effectively eliminate the phenomenon of low speed “crawl” and “flat top”, and improve the tracking accuracy of the servo system. At the same time, the controller Can significantly reduce the chattering problem of the conventional approach law sliding mode controller and improve the control quality.The controller is suitable for controlling the servo system with high quality requirements.