基于交流伺服系统的新型自适应滑模控制器设计

摘要

A novel adaptive sliding mode control strategy was designed to overcome the influence of uncertainties and nonlinear factors in AC position servo system. Control law was proposed and the stability was also proved. The sliding gain was adjusted by the adaptive law in order to compensate the uncertainties and disturbance of system. Simulation and experimental results on different load conditions show this control strategy has smooth control input and can guarantee the dynamic performance of servo system.%考虑交流伺服系统中非线性和不确定因素的影响,设计了一种新型的自适应滑模控制策略.该控制方法通过自适应律调节滑模增益达到克服系统参数摄动和外部扰动的目的,同时根据伺服系统数学模型,设计了控制律并证明了其稳定性.不同载荷条件下的仿真与实验研究表明,该控制策略能保证系统具有很好的控制输入特性与动态性能.