基于摩擦模型的伺服系统模糊控制技术研究

Study on Servo System with Fuzzy Control Based on Friction Model

摘要:

针对非线性摩擦对伺服系统性能的影响，常规PID控制法不能兼顾快速性和稳定性的需求，并且正弦跟踪存在“平顶”现象，基于Stribeck摩擦模型[2]，采用了模糊控制补偿策略，通过matlab/Simulink仿真，仿真结果表明，与常规PID控制[1]相比，模糊控制具有较强的鲁棒性和抗干扰性能，能够很好地解决阶跃跟踪带来超调量大和正弦跟踪带来的跟踪误差等问题，对伺服系统工程具有实际应用价值。

Abstract:

Aiming at the influence of nonlinear friction on servo system performance, general PID control method is difficult to solve the problem of rapidity and stability, and the phenomenon of flat top in sinusoidal tracking. A fuzzy control compensation method based on the Stribeck friction is proposed. Through Matlab/Simulink simulation, the result shows that, compared with general PID method, the fuzzy control has strong robustness and anti-interference characteristics. And can solve the excessive overshoot caused by step signal and tracking error by sine signal. It has practical application value for servo system engineering application.