摘要
针对直流电动舵机伺服控制系统,提出了一种模糊滑模控制方法。该方法是将模糊控制引入到常规滑模变结构控制中,利用模糊控制器来调整滑模趋近律参数,从而有效地削弱滑模切换时产生的剧烈抖振;用李雅普诺夫理论对系统稳定性进行了证明;建立电动舵机的数学模型,在MATLAB软件下对该方法进行了仿真。结果表明,模糊滑模控制算法能够在不出现超调情况下,显著提高系统的响应速度,满足系统控制精度的要求。
A new method of fuzzy sliding mode control for DC electromechanical actuator servo system was designed in this paper,using fuzzy control to adjust the approaching parameter, which effectively weakened the chattering brought by sliding mode switch control. Stability of the system was analyzed based on Lyapunov theory, and the mathematical model of eleetromechanical actuator was built, using this control method in MATLAB software. The simulation results showd that the new controller was effective and achieved high speed as well as steady accuracy without overshoot.
出处
《微特电机》
北大核心
2009年第4期31-33,37,共4页
Small & Special Electrical Machines
基金
国家自然科学基金资助项目(50006016)
关键词
电动舵机
伺服系统
模糊滑模控制
eleetromechanical actuator
servo system
fuzzy sliding mode control
