机械科学与技术2017，Vol.36Issue(9)：1351-1356,6.DOI:10.13433/j.cnki.1003-8728.2017.0907
计入摩擦的进给伺服系统自适应滑模控制方法研究
Study on Adaptive Sliding Mode Control for Feed Servo System with Friction
摘要
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.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Key words
feed servo system/friction compensation/adaptive algorithms/sliding mode control/robustness分类
机械制造引用本文复制引用
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,2017,36(9):1351-1356,6.基金项目
国家自然科学基金项目(51205307)资助 （51205307）
