舰船电子工程2016，Vol.36Issue(4)：54-57,4.DOI:10.3969/j.issn.1672-9730.2016.04.014
基于 LuGre 摩擦模型的鱼雷舵机伺服控制系统自适应反演滑模控制
Adaptive Backstepping Sliding Mode Control of Torpedo Steering Servo Control System Based on LuGre Friction Model
摘要
Abstract
Adaptive backstepping sliding mode control is presented to reduce the influence of friction torque on the accu -racy of the torpedo steering servo control system .With the principle of servo system and LuGre model analyzing ,friction torque is modeled .With synovial control and inversion method ,the adaptive backstepping sliding mode control (ABSM ) is promoted .The simulation contrast experiment of ABSM controller and PID controller is raised ,which gives the result that the ABSM controller enhances the robustness of the system and greatly improves the control precision .关键词
自适应反演滑模控制/鱼雷舵机伺服控制系统/摩擦力矩Key words
adaptive backstepping sliding mode control/the torpedo steering servo control system/friction torque分类
信息技术与安全科学引用本文复制引用
张梦,乔晓君,冯殿震..基于 LuGre 摩擦模型的鱼雷舵机伺服控制系统自适应反演滑模控制[J].舰船电子工程,2016,36(4):54-57,4.
