Research On Adaptive Fuzzy Sliding Mode Control For A Servo System

Hybrid stepping motor is widely used for its good operation characteristics, but with the driver and the controller can better improve the system driving device for its control precision. The primary purpose of this paper is to design a new DSP stepper motor subdivision driver based on, meet the good step motor driver quality requirements, on the basis of this plan to drive stepping motor controller driving mechanism, to realize the closed-loop control of stepping motor.This paper studied the internal structure, stepper motor operation principle and subdivided driving mechanism, proposes a sinusoidal current subdivision and current pulse width modulation (PWM) based on the stepper motor drive technology, the use of the DSP technology and digital control technology co developed the stepping motor drive system, constant torque operation implement step stepper motor. And then, the design of hardware circuit and software driver. The driver of the main part, comprehensive signal processing unit, a constant current control circuit, driving power amplifying circuit, over-current protection circuit and power supply circuit composed of a digital control. At the completion of the motor driver design, the drive performance is validated by the experiments, the experimental results show that, the hardware and software design of the drive can be reasonable, effective and stable driving of stepping motor.Then, the drive controller of stepper motor. In the servo system, composed of a speed reducer and a driving controller constitute the driving mechanism for the position closed loop control system with stepper motor, the implementation of the motor closed-loop control. The driving controller is adopted in the control strategy of adaptive fuzzy sliding mode variable structure. In order to verify its superiority and feasibility, to establish the simulation model of step motor driver, the adaptive fuzzy sliding mode variable structure control are compared and analyzed by simulation strategy and classical PID control strategy, and then verify the effect of the former is more in line with the requirements.Finally has carried on the whole servo control system hardware in the loop test, the test results are given and analyzed the measured waveform. The final experimental results show, the whole servo control system design is reasonable and feasible, the technical indicators have reached the design requirements, performance improves significantly the stepping motor, has a certain practical value.