Study On The Servo System Based On Sliding Mode Control And Interference Inhibition

The servo system is widely used in the field of national defense and industry, its robustness and control precision requirement enhances unceasingly, the research on control algorithm is also increasingly important. In this paper, the sliding mode control and interference inhibition issue is researched. Study on the sliding mode control algorithm of two kinds of common actuators in servo system: permanent magnet synchronous motors and DC motors. Combined with the iterative learning and decoupling method to suppress the interference existing in the servo system. Applied the control algorithm in the control moment gyroscope outside gimbal and the three-axis turntable servo system.In order to improve the control performance of permanent magnet synchronous motor servo system, enhance its robustness, the PI type adaptive switch gain time-varying sliding mode control algorithm is researched. Integral type of the sliding surface is used to inhibit the error in whole operation process. The time-varying item of the sliding mode surface is improved to enhance the system global robustness. The system chattering is reduced by using adaptive switch gain. Built the MATLAB simulation platform and carried on the simulation.Study on the composite control algorithm of iterative learning and sliding mode control in a DC motor servo system. Designed the iterative learning and PID parallel controller in position loop, designed the sliding mode controller in speed loop. The system has the characteristics of high precision tracking with iterative learning and strong robustness with sliding mode control. The simulation is carried on in MATLAB.Built the control moment gyroscope outside gimbal servo system experiment platform, based on the PI type adaptive gain time-varying sliding mode controller, designed and simulated a mathematical model compensation controller. The PI type adaptive gain time-varying sliding mode controller and the mathematical model compensation algorithm is both verified in the experimental platform.Decoupled the coupling interference between the three axis turntable’s framework. Proved the system can be decoupled. By designing decoupling algorithm based on the inverse system model, the system is decoupled to three pseudo linear subsystems of single degree of freedom. The decoupling algorithm simulation is carried on in the MATLAB. The experiment platform of the three-axis turntable is introduced, and the composite control of iterative learning and sliding mode control in DC motor servo system is applied to the three-axis turntable experiment platform.