Design Of Synchronization Controller Based On Sliding Mode Variable Structure

Some works can’t be completed independently by a single system in currentmanufacture and life, therefore the research on how to make multiple systems tokeep dynamically synchronous is of great significance to theory and engineering.Daily mechanical systems can generally be divided into two types of actuated andunderactuated mechanical systems. This dissertation takes double-gimbaledgyroscope system and ball and beam system as instances of actuated andunderactuated mechanical systems and designs their synchronization controllerswhich base on sliding mode control. This paper also designs a servo system ofgyroscope precession.The design of servo system of gyroscope precession mainly includes two parts:hardware and sotfware. The hardware part is a control system based onTMS320F2812DSP chip. In view of the AV signal of gyroscope which isproportional to the angular position, this thesis adopts angular position transmitter totransform the signal to digital signal. In the part of power driver circuit, this articledesigns a programmable gain amplifier, which can change the voltage’s amplitudeand phase automatically, working with DSP and DCP. Meanwhile, DSP shouldcomplete the extraction of useful signal and communication with external equipment.The sotfware part is to develop DSP program, consisting of four sections such assystem initialization, acquisition of signal, control of system, communication withcomputer and so on. Another task of sotfware part is to develop a PC sotfware, basedon the Qt Creator and open serial port library. It can control the start and stop ofsystem and handle the data it received.With regard to double-gimbaled gyroscope, this paper designs a synchronizationcontroller with integral sliding mode and for the ball and beam system, anintermediate variable, which is defined as the arctangent function of a sub-slidingsurface, is incorporated into the other sub-sliding surface, and then the slidingsurface of the whole system is constructed. Then this article designs asynchronization controller with the above decoupled sliding mode. Through thesimulations of two controllers using MATLAB, it can be obtained that twosynchronization controllers not only have fine synchronization effect, but also havestrong anti-disturbance capability. Simulation results also show that synchronizationerror coeiffcients have a significant impact on synchronization performance ofsystems.