基于pid -全局滑模控制的双驱动伺服系统交叉耦合控制

Proceedings of the 5th International Conference on Industrial and Business Engineering Pub Date : 2019-09-27 DOI:10.1145/3364335.3364394

Hongdong Yi, Guoliang Zhong, Weiqiang Dou, Longyang Wang

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引用次数: 0

摘要

为了提高双驱动伺服系统的动力学性能和同步运动精度，提出了一种基于全局滑模控制(GSMC)的交叉耦合控制(CCC)和比例积分导数(PID)相结合的控制方法。一方面，在实际应用中，交叉耦合控制由于其结构特点，在同步运动控制中显示出优越性。另一方面，PID-GSMC可以结合PID和GSMC的优点，进一步提高双驱动伺服系统抗外部干扰和不确定参数变化的动力学性能。本文将通过仿真研究所提出的控制方法的动力学性能和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Cross-Coupled Control Based on PID-Global Sliding Mode Control for Dual-Driven Servo Systems

In this paper, to improve the dynamics performance and synchronous motion accuracy for dual-driven servo systems, a control method that integrates cross-coupled control (CCC) and proportional-integral-derivative (PID) based on global sliding mode control (GSMC) is presented. On the one hand, in the actual applications, the cross-coupled control has shown the superiority in synchronous motion control due to structure characteristics. On the other, PID-GSMC can combine the advantages of PID and GSMC to further enhance the dynamics performance against external disturbances and uncertain parameters variations for dual-driven servo systems. The dynamics performance and effectiveness of the proposed control method will be investigated through simulations.

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Proceedings of the 5th International Conference on Industrial and Business Engineering

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