为解决滑模控制系统抖振和动态响应性能之间的矛盾，采用模糊滑模控制策略，根据系统的误差来实时调整切换增益的大小。在速度误差较大时，切换增益变大，提高系统动态响应速度；在速度误差较小时，切换增益变小，减小系统的抖振。模糊控制采用新的模糊规则，将速度误差作为单输入变量，有效简化了模糊控制系统的参数调试。滑模控制器采用等速趋近律，并用饱和函数代替符号函数，进一步减小系统稳定时的抖振。通过仿真分析和试验结果可知，模糊滑模控制系统在提高动态响应性能的同时，可有效减小系统的抖振。

In order to solve the contradiction between the chattering and dynamic response performance of the sliding mode control system, a fuzzy sliding mode control strategy is proposed to adjust the switching gain in real time according to the system error. When the speed error is large, the switching gain becomes larger and the dynamic response performance of the system is improved. When the speed error is small, the switching gain becomes smaller and the chattering of the system is reduced. For fuzzy control, the new fuzzy rule is proposed, and the speed error is taken as a single input variable, which simplifies the parameter tuning. The sliding mode controller uses the constant speed reaching law and the saturation function instead of the sign function to further reduce the chattering. Simulation analysis and experimental results show that the fuzzy sliding mode control system can effectively reduce the system chattering while improving the dynamic response performance.

江苏“双创博士”项目(JSSCBS20211445)