弹仓的模糊自适应滑模控制
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摘要
针对系统模型参数未知且负载大范围变化的链式弹仓的位置控制问题,提出了一种FASMC算法。根据模糊系统的万能逼近理论,针对弹仓系统输入设计模糊集、构造模糊系统,最后以模糊系统的输出来逼近弹仓系统的未知理想控制律。该算法不以系统模型为基础设计了理想的滑模控制律,所以具有较好的鲁棒性。在逼近过程中,为进一步的改善控制效果提高系统鲁棒性,针对模糊系统可调参数构造合适的自适应控制律,实现参数的在线自适应调整;最后引入自适应滑模切换控制律补偿模糊系统的逼近误差,保证了滑模条件。在空载、半载和满载三种情况下的仿真结果表明,提出的模糊自适应滑模控制算法不仅能够有效逼近弹仓系统模型的理想控制律且具有较好的控制精度。
A fuzzy adaptive sliding mode control algorithm was proposed for the position control of chain magazine with unknown system model and large range of load variation.According to the universal approximation theory for fuzzy systems,A fuzzy system was constructed by designing the input fuzzy sets of the magazine system,and the unknown function of the magazine system was approximated by the output of the fuzzy system.The algorithm was not based on the system model,and the ideal sliding mode control law was designed,so it has a better robustness.In the process of approximation,In order to further improve the control effect and improve the system robustness,an adaptive control law was constructed for the adjustable parameters of the fuzzy system.The adaptive sliding mode switching control law was introduced to compensate the approximation error of the fuzzy system and guarantee the sliding mode condition.The simulation results under three conditions,i.e.,empty-load,half-load and full-load,show that the proposed fuzzy adaptive sliding mode control algorithm can not only effectively approach the ideal control law in the system model,but also has a good control precision.
A fuzzy adaptive sliding mode control algorithm was proposed for the position control of chain magazine with unknown system model and large range of load variation.According to the universal approximation theory for fuzzy systems,A fuzzy system was constructed by designing the input fuzzy sets of the magazine system,and the unknown function of the magazine system was approximated by the output of the fuzzy system.The algorithm was not based on the system model,and the ideal sliding mode control law was designed,so it has a better robustness.In the process of approximation,In order to further improve the control effect and improve the system robustness,an adaptive control law was constructed for the adjustable parameters of the fuzzy system.The adaptive sliding mode switching control law was introduced to compensate the approximation error of the fuzzy system and guarantee the sliding mode condition.The simulation results under three conditions,i.e.,empty-load,half-load and full-load,show that the proposed fuzzy adaptive sliding mode control algorithm can not only effectively approach the ideal control law in the system model,but also has a good control precision.
引文
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[14]胡强晖,胡勤丰.全局滑模控制在永磁同步电机位置伺服中的应用[J].中国电机工程学报,2011,31(18):61-66.
[2]解凤娟,何宗颖,骆小平,等.基于RecurDyn的链式回转弹仓多边形效应分析[J].火炮发射与控制学报,2013(2):27-30.
[3]侯保林,马建伟.链式自动化弹仓的最优保性能控制算法[J].兵工学报,2009,30(9):1164-1169.
[4]钱荣荣,骆敏舟,赵江海,等.永磁同步电动机新型自适应滑模控制[J].控制理论与应用,2013,30(11):1414-1421.
[5]赵永胜.模糊滑模控制及其在机电系统中应用的研究[D].武汉:华中科技大学,2007.
[6]瞿少成.不确定系统的滑模控制理论及应用研究[D].武汉:华中科技大学,2005.
[7]岳才成,钱林方,徐亚栋,等.基于指数趋近律链传动弹仓自适应模糊滑模控制[J].上海交通大学学报,2018,52(6):750-756.
[8]Wang W J,Lin H R.Fuzzy control design for the trajectory tracking on uncertain nonlinear systems[J].Fuzzy Systems IEEE Transactions on,1999,7(1):53-62.
[9]Abdelhameed M M.Enhancement of sliding mode controller by fuzzy logic with application to robotic manipulators[J].Mechatronics,2005,15(4):439-458.
[10]邹权,钱林方,蒋清山.永磁同步电机伺服系统的自适应模糊滑模控制[J].控制理论与应用,2015,32(6):817-822.
[11]Li Y,Xu Q.Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a Piezo-Driven micromanipulator[J].IEEE Transactions on Control Systems Technology,2010,18(4):798-810.
[12]Wang L X.Fuzzy systems are universal approximators[C]//IEEE International Conference on Fuzzy Systems.IEEE Xplore,1992:1163-1170.
[13]张希,陈宗祥,潘俊民,等.永磁直线同步电机的固定边界层滑模控制[J].中国电机工程学报,2006,26(22):115-121.
[14]胡强晖,胡勤丰.全局滑模控制在永磁同步电机位置伺服中的应用[J].中国电机工程学报,2011,31(18):61-66.