Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

China Mechanical Engineering ›› 2011, Vol. 22 ›› Issue (20): 2395-2398.

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Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

Li Renjun1;Liu Hongzhao2;Wang Jingping1

1.Anhui Polytechnic University,Wuhu,Anhui,241000 

2.Xi'an University of Technology,Xi'an,710048

Online:2011-10-25 Published:2011-11-02
Supported by:

National Natural Science Foundation of China（No. 50575180）;
Anhui Provincial Natural Science Foundation of China（No. KJ2011B016，KJ2011B018）

混合输入机构的模糊自适应变结构控制

李仁军1;刘宏昭2;王静平1

1.安徽工程大学,芜湖,241000

2.西安理工大学,西安,710048

基金资助:
国家自然科学基金资助项目(50575180)；安徽省自然科学基金资助项目(KJ2011B016，KJ2011B018)；安徽工程大学引进人才科研启动基金资助项目(2011YQQ005)
National Natural Science Foundation of China（No. 50575180）;
Anhui Provincial Natural Science Foundation of China（No. KJ2011B016，KJ2011B018）

Abstract

Abstract:

The motion of constant velocity motor is detectable but uncontrollable in hybrid system. The strategy for control servomotor based on tracking the motion of constant velocity motor was proposed. An adaptive fuzzy sliding mode controller in considering the uncertainties and external diterbance of the system was desigened for trajectory tracking of hybrid machine.The control gain was acquired by approximating the sum of uncertainties of the system on the basis of adaptive fuzzy control, and the chatter in sliding mode control was eliminated in the controller. 

Key words: hybrid machine, trajectory tracking, sliding mode control, fuzzy control, adaptive control

摘要：

针对混合输入机构中常速电机可测不可控的特点，提出了基于常速电机位置跟踪的控制策略来对伺服电机进行控制,对常速电机的速度波动进行补偿，并给出了控制框图。因为系统的精确动力学模型难以获得，故考虑系统参数的不确定、外部扰动和非线性摩擦，设计了模糊自适应滑模变结构控制器以实现混合输入机构的轨迹跟踪。应用模糊自适应推理逼近系统的不确定之和，从而得到连续的控制增益，消除了变结构控制的抖振。

关键词:

混合输入机构, 轨迹跟踪, 滑模变结构控制, 模糊控制, 自适应控制

CLC Number:

TH112

LI Ren-Jun-1, LIU Hong-Zhao-2, WANG Jing-Beng-1.

Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

[J]. China Mechanical Engineering, 2011, 22(20): 2395-2398.

李仁军1, 刘宏昭2, 王静平1.

混合输入机构的模糊自适应变结构控制

[J]. 中国机械工程, 2011, 22(20): 2395-2398.

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Adaptive Fuzzy Sliding Mode Control of Hybrid Machine

混合输入机构的模糊自适应变结构控制

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