摘要
针对飞行模拟转台位置伺服系统中存在的非线性摩擦环节,设计了一种补偿摩擦的模糊边界层滑模变结构控制器。在常规的准滑模变结构控制中引入模糊控制,利用模糊控制器来动态调整滑模边界层的厚度。通过MATLAB仿真,结果表明该控制器较好地协调了常规固定边界层滑模控制鲁棒性与平滑控制抖振之间的矛盾,有效地抑制了摩擦力矩的影响,保证了系统的快速性和鲁棒性,实现了高精度的位置跟踪。
This paper designs a fuzzy boundary layer sliding mode variable structure controller which can compensate the friction in the flight simulator servo system.A fuzzy control is combined with the conventional quasi-sliding mode control,and the fuzzy controller is used to adjust the thickness of boundary layer dynamically.The result shows that this controller suppresses the friction influence in flight simulator servo system effectively,ensures speediness and robustness of the control system so that it can weaken chattering phenomenon and the contradiction between the robustness of quasi-sliding mode control based on constant boundary layer and chattering phenomenon is solved in high accuracy position track by MATLAB simulation.
出处
《机械制造与自动化》
2010年第2期163-166,共4页
Machine Building & Automation
关键词
转台伺服系统
模糊边界层
滑模控制
摩擦
flight simulator servo system
fuzzy boundary layer
sliding mode control
friction
