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混合输入机构运行过程中,由于负载、惯性力等变化,引起常速电机速度的波动,会影响输出运动的精度。针对混合输入机构中常速电机可测不可控的特点,实时检测常速电机的角位置,并对系统的动力学模型进行简化。提出了基于常速电机位置跟踪的控制策略对伺服电机进行控制,并给出了控制框图。考虑系统参数的不确定和外部扰动,设计了模糊滑模变结构控制器实现混合输入机构的轨迹跟踪,应用模糊推理确定切换控制的幅值和采用软切换连续控制的方法减小抖振。仿真结果表明本文方法正确有效。
Mixed input mechanism operation, due to changes in load, inertial force, causing the speed of the motor speed fluctuations, will affect the accuracy of the output movement. Aiming at the characteristics that the normal speed motor can not be controlled in the hybrid input mechanism, the angular position of the constant speed motor is detected in real time and the dynamic model of the system is simplified. A control strategy based on the position tracking of the constant speed motor is proposed to control the servo motor and a control block diagram is given. Considering the uncertainty of the system parameters and external disturbances, a fuzzy sliding mode variable structure controller is designed to track the hybrid input mechanism. The fuzzy inference is used to determine the amplitude of switching control and the soft switching continuous control method is used to reduce the chattering. Simulation results show that this method is correct and effective.