Adaptive Robust Sliding Mode Control of Servo Turntable Based on Elastoplastic Friction Model

摘要

Nonlinear friction is one of the main factors affecting the performance of electromechanical servo system in low speed region. In this paper, an adaptive robust sliding mode control method based on Elastoplastic friction model is proposed to improve the tracking performance of the turntable servo system. Firstly, a brief introduction to the experimental setup is given. Secondly, the Elastoplastic friction model is recommended in detail, and the parameters of the model are identified by genetic algorithm. Finally, an adaptive robust sliding mode controller is designed based on Lyapunov stability theory, considering Elastoplastic friction model. The simulation and experimental results show that the proposed control scheme can improve the tracking performance of the turntable servo system, illustrating the effectiveness and robustness of the proposed control method.