Objective To choose a stable control strategy to achieve high-accuracy rotational control. Methods Adap-tive fuzzy sliding mode control was chosen to control the rotation. This kind of control was applied with adaptive fuzzy system based on sliding mode control to approach and replace variable controller. Thus, it not only possessed stability and robustness, but also dramatically suppressed problematic chattering and smoothed the output of control. Results The tracking error of the method was under 0.01°, and the gradient of control output was under 40 000 step/s. Conclusion Under the capability of torquers, this method can drive sphere rotating accurately, less than 0.01°, as self-calibration and self-alignment needed.%目的 选择一种稳定的控制方法使力矩器能够完成高精度的转动控制.方法 选择自适应模糊滑模控制解决球体的转动控制问题.该方法是在滑模控制的基础上,利用自适应模糊系统逼近滑模控制中的切换控制项,使得该方法不但拥有滑模控制所具有的稳定性和鲁棒性的优点,而且有效地抑制了滑模控制的抖振问题,得到振幅较小且变化平缓的控制输出.结果 自适应模糊滑模控制的跟踪误差在0.01°以内,且跟踪状态下控制输出信号的斜率不超过40000 step/s.结论 该方法能够在力矩器的能力范围内保证球体转动的精度,满足自标定自对准时转动精度低于0.01°的要求.
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