机械动力学:2017,Vol:36,Issue(9):1351-1356
引用本文:
李淑超, 刘丽兰, 任博林, 张小静. 计入摩擦的进给伺服系统自适应滑模控制方法研究[J]. 机械科学与技术
Li Shuchao, Liu Lilan, Ren Bolin, Zhang Xiaojing. Study on Adaptive Sliding Mode Control for Feed Servo System with Friction[J]. Journal Of Remote Sensing

计入摩擦的进给伺服系统自适应滑模控制方法研究
李淑超, 刘丽兰, 任博林, 张小静
西安理工大学机械与精密仪器工程学院, 西安 710048
摘要:
针对具有非线性摩擦和有界外部扰动的进给伺服系统,设计了一种自适应滑模控制器。该控制器采用自适应算法建立了摩擦力的线性边界,将其作为滑模控制项增益,利用滑模控制项补偿摩擦和外部扰动,使系统跟踪误差渐进收敛于要求的允差内。基于Lyapunov稳定性理论证明了闭环控制系统的全局稳定性。仿真结果表明该控制器能有效补偿摩擦和外部扰动,相对于传统的PD和PID控制,显著提高了进给伺服系统的跟踪精度,并对系统参数和摩擦的不确定性具有一定的鲁棒性。
关键词:    进给伺服系统    摩擦补偿    自适应算法    滑模控制    鲁棒性   
Study on Adaptive Sliding Mode Control for Feed Servo System with Friction
Li Shuchao, Liu Lilan, Ren Bolin, Zhang Xiaojing
School of Mechanical and Instrumental Engineering, Xi'an University of Technology, Xi'an 710048, China
Abstract:
An adaptive sliding mode controller is presented for the feed servo system with nonlinear friction and bounded external disturbances. The controller has a sliding control input to compensate the friction and external disturbances so that the tracking error convergences asymptotically to the preassigned boundary. The gain of the sliding control input is adjusted using adaptive algorithms to estimate the linear bound of the friction. The global stability of the closed loop control system is established via Lyapunov's stability theorem. Finally, simulation results have verified that the proposed controller can compensate the friction and external disturbances effectively. Compared with the traditional Proportional-integral-differential (PD and PID) controllers, it enhances significantly the tracking accuracy of the servo system, and has robustness to the uncertainty of the system parameters and friction characteristics.
Key words:    feed servo system    friction compensation    adaptive algorithms    sliding mode control    robustness   
收稿日期: 2016-08-17     修回日期:
DOI: 10.13433/j.cnki.1003-8728.2017.0907
基金项目: 国家自然科学基金项目(51205307)资助
通讯作者: 刘丽兰(联系人),副教授,博士,liulilans@163.com     Email:liulilans@163.com
作者简介: 李淑超(1990-),硕士研究生,研究方向为机械动力学,15102982399@163.com
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