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Self-organizing fuzzy control for motor-toggle servomechanism via sliding-mode technique

机译：滑模技术自组织模糊控制电动机的伺服机构

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摘要

The dynamic response of a self-organizing fuzzy sliding-mode-controlled toggle mechanism, which is driven by a permanent magnet synchronous servo motor, is studied in this paper. First, based on the principle of fuzzy control, a self-organizing fuzzy control (SOFC) system is developed to control the position of a slider of the motor-toggle servomechanism. Moreover, to reduce the control rules in the design of the SOFC system and to strengthen the robust characteristics, a self-organizing fuzzy sliding-mode control (SOFSMC) is proposed to control the motor-toggle servomechanism. The proposed SOFC and SOFSMC systems contain two sets of fuzzy inference logic: one is the fuzzy controller and the other is the rule modifier. A new fuzzy learning method of the rule modifier is developed, where the modification value of each rule is based on the fuzzy firing weight. The proposed SOFC and SOFSMC systems can automatically tune the rules bases to achieve satisfactory performance, so that they can be applied for on-line learning, real-time control. In addition, simulated and experimental results due to periodic step and sinusoidal commands show the dynamic behaviors of the proposed SOFC and SOFSMC systems are robust with regard to parameter variations and external disturbances. Comparison between SOFC and SOFSMC also shows that the SOFSMC can reduce implementation complex while defining the sliding surface.
机译：研究了永磁同步伺服电机驱动的自组织模糊滑模控制肘节机构的动力响应。首先，基于模糊控制原理，开发了一种自组织模糊控制（SOFC）系统来控制电机切换伺服机构的滑块位置。此外，为了减少SOFC系统设计中的控制规则并增强鲁棒性，提出了一种自组织模糊滑模控制（SOFSMC）来控制电动机的伺服机构。拟议的SOFC和SOFSMC系统包含两组模糊推理逻辑：一组是模糊控制器，另一组是规则修饰符。提出了一种新的规则修改器的模糊学习方法，其中每条规则的修改值均基于模糊触发权重。所提出的SOFC和SOFSMC系统可以自动调整规则库以获得令人满意的性能，因此可以将它们应用于在线学习，实时控制。此外，由于周期性步进和正弦指令而产生的仿真和实验结果表明，所提出的SOFC和SOFSMC系统的动态行为在参数变化和外部干扰方面均十分可靠。 SOFC和SOFSMC的比较还表明，SOFSMC可以在定义滑动表面的同时减少实现的复杂性。

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