计入摩擦的进给伺服系统自适应滑模控制方法研究
Study on Adaptive Sliding Mode Control for Feed Servo System with Friction

针对具有非线性摩擦和有界外部扰动的进给伺服系统，设计了一种自适应滑模控制器。该控制器采用自适应算法建立了摩擦力的线性边界，将其作为滑模控制项增益，利用滑模控制项补偿摩擦和外部扰动，使系统跟踪误差渐进收敛于要求的允差内。基于Lyapunov稳定性理论证明了闭环控制系统的全局稳定性。仿真结果表明该控制器能有效补偿摩擦和外部扰动，相对于传统的PD和PID控制，显著提高了进给伺服系统的跟踪精度，并对系统参数和摩擦的不确定性具有一定的鲁棒性。
An adaptive sliding mode controller is presented for the feed servo system with nonlinear friction and bounded external disturbances. The controller has a sliding control input to compensate the friction and external disturbances so that the tracking error convergences asymptotically to the preassigned boundary. The gain of the sliding control input is adjusted using adaptive algorithms to estimate the linear bound of the friction. The global stability of the closed loop control system is established via Lyapunov's stability theorem. Finally, simulation results have verified that the proposed controller can compensate the friction and external disturbances effectively. Compared with the traditional Proportional-integral-differential (PD and PID) controllers, it enhances significantly the tracking accuracy of the servo system, and has robustness to the uncertainty of the system parameters and friction characteristics