基于 LuGre 摩擦模型的鱼雷舵机伺服控制系统自适应反演滑模控制

摘要

为降低摩擦力矩对鱼雷舵机伺服控制系统控制精度的影响，提出了自适应反演滑模控制方法。首先，分析了伺服系统的原理，并应用 LuGre 模型对摩擦力矩进行了建模。然后，在此基础上，结合滑模控制和反演法，提出了自适应反演滑模控制（ABSM ）算法。最后，将 ABSM 控制器与原有的 PID 控制器进行了仿真对比实验。结果表明所设计的控制器增强了系统的鲁棒性，大幅提高了控制精度。%Adaptive backstepping sliding mode control is presented to reduce the influence of friction torque on the accu -racy of the torpedo steering servo control system .With the principle of servo system and LuGre model analyzing ,friction torque is modeled .With synovial control and inversion method ,the adaptive backstepping sliding mode control (ABSM ) is promoted .The simulation contrast experiment of ABSM controller and PID controller is raised ,which gives the result that the ABSM controller enhances the robustness of the system and greatly improves the control precision .