Research On Adaptive Control Method Of System With Uncertain Disturbance

Two-axis turntable is usually used as basic carrier in test device and widely applied in industry and military field. As a complex and sophisticated Electromechanical Integration device, turntable control system should have high bandwidth, high precision and excellent stability of low speed. The turntable will be affected by uncertain disturbances inevitably for its structure and working environment etc. When works in low speed, the turntable has smaller torque. At this time, uncertain disturbances will cause larger effect and even make the control system lost stability. So, studying on how to improve system robust has important significance.Firstly, this paper establishes the kinetic equation of two-axis turntable using coordinate transformation theory and Newton-Euler dynamic equation. Based on the turntable structure and some certain assumptions, this paper analysis a class of disturbance with nonlinearity and uncertainty and gets its range.Then, with the characteristics of uncertain disturbances, this paper presents a fuzzy sliding mode adaptive controller with the advantages of fuzzy control and sliding mode control. The designing thought is ensuring system state sliding on the sliding surface until to the origin with the sliding mode control algorithms and ensuring the stability of sliding mode control and reduce the system chattering trajectory with fuzzy control algorithm. Also, this paper makes step response and sinusoidal position tracking experiments for the system using MATLAB software. The results show that the fuzzy sliding mode controller has good stability, strong anti-interference ability and high precision, and improves robustness of the turntable system.Finally, this paper establishes a hardware platform, making preparation for the further study.