基于多Lyapunov函数方法的模糊滑模控制算法.pdf

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1、机E,-与液压Dec．2O14HydromechatronicsEngineeringVo1．42No．24DOI：10．3969／j．issn．1001-3881．2014．24．022functionmethodZhi—pingYANG，Shan—shanCHEN，Zhen—huaNIEChongqingCollegeofElectronicEngineering，Chongqing401331，ChinaAbstract：Astothehighcomplexitymechanical—electronicoperationsystemunderthemotors，itisveryimpo

2、rtantthatgivesthegeneralcontrolalgorithmtocontrolthemotors．Thestudypres—entsfuzzyslidingmodecontrolalgorithmbasedonmulti-Lyapunovfunctionmethodtocontrolthemotorsspeed．Thecontrolscheme，first，Lyapunovfunctionmethodisappliedtodesignspeedestimatorofthemotors；second，Lyapunovfunctionmethodisappliedtostruc

3、turetheslidingmodecontroller；finally，applyingLyapunovstabilitycondition，thefuzzyslidingmodecontrollerispresented．Integrationoffuzzyslidingmodecontroltechnologyprovidesefectivereferenceforthemotorscontrolled．Keywords：Lyapunovfunction，Multi—motorsystem，Speedsensor，Slidingmodecontrol，FuzzycontrolAllkin

4、dsofrobotsareintroducedandappliedsuchastheliterature[1—2]，itcannotadaptedtothatisfastextremelyunderthemultiplemotorcon—generalizeconsiderationofmultiplemotorcontrolal—trolled，itmakescontrolalgorithmandimplementgorithmobviously．Thestudygivesthecontrolalgo—technologyofthemotorsthatareacceleratingupdat

5、edrithm，usingthegeneralanalyzingthink，incollec—andinnovated．Inthecomplexcontrolsystemofthetionofthemotoroutputspeed，stablecontroloftherobots，allthesecharacteristicssuchasmulti—node，motorrunningandrestrainedofthemodelingerror，multi．joint，multi—lever，multi+dimensionalmovementLyapunovfunctionmethodsare

6、repeatedtodesigntheandmulti—actioncombined。manyproblemsofthecontrolalgorithm，inordertoachieveobjectofthemotorscontrolledaremade．Inthesystem。allocatedmotorscontrolled．Throughgeneralityofthecontrolthemotorsandthemicro．motorshavedifferentfunc．technologyisenhancedtoprovideareferencepathfortions，butthest

7、ructureandthe1％lnofthemotorshasgraftingofthealgorithmofthemotorscontrolled．agenerality，thecontrolalgorithmisstructuredthatshouldhavealsorelativelygenerality．FortheH10一1．Estimationalgorithmofthemotorsp