Fuzzy Sliding Mode Adaptive Control of Dual-Motor Driving Servo System

Haibo Zhao, Chengguang Wang
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引用次数: 2

Abstract

Backlash nonlinearity exists in dual-motor driving servo system, in order to weaken the adverse effects of backlash nonlinearity on the system, we first described the system model. Then we designed a multiple sliding surfaces-based fuzzy sliding mode adaptive controller combining a fuzzy approximation algorithm with sliding mode control, which we believe to be the first time for dual-motor driving servo system, and analyzed its stability. We adopted a Nussbaum function to compensate the uncertainty in the system and employed a fuzzy approximation system to approximate the unknown nonlinearity in the controller. Finally, simulation results show that fuzzy sliding mode adaptive control has not only better dynamic and steady-state performance, but also better robustness than single fuzzy control, validating the effectiveness of the proposed control algorithm.
双电机驱动伺服系统的模糊滑模自适应控制
双电机驱动伺服系统存在间隙非线性,为了减弱间隙非线性对系统的不利影响,首先对系统模型进行了描述。然后将模糊逼近算法与滑模控制相结合,设计了一种基于多滑动面的模糊滑模自适应控制器,并对其稳定性进行了分析。采用Nussbaum函数补偿系统中的不确定性,采用模糊逼近系统逼近控制器中的未知非线性。最后,仿真结果表明,模糊滑模自适应控制不仅具有更好的动态和稳态性能,而且比单一模糊控制具有更好的鲁棒性,验证了所提控制算法的有效性。
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