Design And Research On Table Servo Control System Based On T-S Fuzzy Model

Under the background of the three-axes simulation table system, the table servo control system is studied and designed, including frame structure, mathematical model and method of control system design. T-S(Takagi-Sugeno) fuzzy theory is proposed to deal with the nonlinear and uncertainties of the plant, then the nonlinear problems can be converted to linear matrix inequalities(LMIs) problems which can be solved easily by using LMI optimization techniques. The table control system is designed and simulation analyzed based on T-S fuzzy model.The main content of the dissertation is as follow:First, according to the control performance of the system and actual application, mechanism frame of the table is presented. Then brushless dc motor is chosen to be driving element and angle encoder is chosen to be measuring element. The theory of brushless dc motor is discussed and its mathematical model is presented. The main factors of the table plant's uncertainties are presented, and their influence on system is particularly analyzed.Second, theory of tracking control based on T-S fuzzy model is studied. Basic theory of T-S fuzzy and LMI is introduced. Then following control based reference model is studied. The sufficient condition which guarantees H_∞tracking control performance is proposed. For parametric uncertainties of plant, another sufficient condition by which both robust stability and tracking control performance can be guaranteed is proposed. These theories facilitate the next controller design of plant.The last, control system of the table is designed and simulated. The T-S fuzzy models of the velocity loop and position loop are constructed via the table's nonlinear dynamic model. Robust-optimal controller of velocity-loop is designed for velocity orientation. According the actual performance of system, the reference model which needs to be tracked is built. Then T-S fuzzy controllers based on observer are designed with parametric uncertainties or not, respectively. Simulation module is built by Matlab Simulink, then the simulation results are analyzed and the performance has been satisfied, and close-loop system has good capability of disturbance rejection.