【摘要】 针对传统滑模控制应用于伺服系统存在的实际问题,本文设计了一种新型的滑模控制器。有别于传统削弱抖振的方法,对控制量采取先微分后积分处理,使输出不含非线性项,有效地削弱了抖振,同时提高了跟踪精度。对于位置伺服系统采用传统滑模控制时速度不可控问题,文中提出对速度和位置分时进行滑模控制,可靠地实现了位置跟踪和速度控制,同时提高了系统的快速性。仿真和实验均证明了所设计的滑模控制方案的可行性和优越性。更多还原

【Abstract】 In this paper,a new kind of SMC controller is designed to solve some practical problems.Different from some traditional ways,the chattering is weakened by differential and integral.It also assures the precision of the servo system.In order to control the speed on the servo system under sliding mode control,it is proposed to control the speed and the position with time sharing,which makes sure it responds fast and reliably.The validity of the novel SMC controller is demonstrated by simulation and experimental results.更多还原