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首页> 外文会议>International symposium on instrumentation and control technology >Adaptive Sliding Mode Control on Inner Axis for High Precision Flight Motion Simulator
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Adaptive Sliding Mode Control on Inner Axis for High Precision Flight Motion Simulator

机译：高精度飞行模拟器内轴自适应滑模控制

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摘要

Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.
机译：提出了一种具有指数到达律的离散自适应滑模控制（ASMC），以减轻诸如电动机的周期性波动转矩，非线性摩擦和其他干扰等因素的影响，这些因素将恶化直流转矩电动机驱动的内轴的跟踪性能。对于高精度飞行运动模拟器，考虑到ASMC对这些不确定性的补偿能力有限，还提出了一种基于Stribeck模型的等效摩擦提前补偿器，用于系统的超低速伺服。首先，列出了直接使用内轴本身的可用部分来确定Stribeck模型参数的方法。其次，采用自适应方法克服了指数到达律关键参数选择的难点，分析了算法的稳定性。最后，进行了可比的实验以验证组合方法的有效性。实验结果表明，具有稳定的0.00006°/ s的速度响应，95％的时间跟踪误差在0.0002°以内，其他伺服系统（例如正弦波跟踪）也具有较高的精度。

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