Research On Speed And Position Control System Of Servo System Based On Sliding Mode Variable Structure Control

Sliding mode variable structure control,its mathematical model is relatively simple compared to the salient pole motor,its robustness is strong,and it is not sensitive that to parameter perturbation and external disturbance.It has obvious advantage about the characteristics of servo motor control system for the surfacemounted permanent magnet synchronous motor.In the research and application of motor control algorithms,the speed control and position control of the servo system have always been hotspots.Taking the sliding mode variable structure control theory as the starting point of this study,the speed and position control strategies of surface permanent magnet synchronous motors are studied,and the main research is as follows:(1)The rescue theory in this paper is the sliding mode variable structure control theory.Firstly,this paper will introduce its research status so far and the basic theories related to this paper.(2)Introduce the related theories of global fast terminal sliding mode control,and take speed control as the research object.In order to solve the problem of traditional terminal control,that is,the singularity problem with zero denominator is easy to appear in the controller design,and the nonglobal rapidity problem that the convergence rate is slower than the linear sliding mode when approaching equilibrium state,a solution is given.The saturated function is used to reduce the chattering problem of the symbol function and the integral sliding mode surface is used to reduce the chattering problem of sliding mode control.(3)In position control,for example,is introduced based on the inversion method of dynamic sliding mode control,the theory of complex system decomposition inversion design position control system,and combining the dynamic surface control,solves the traditional inversion method to control the virtual derivation of the differential expansion problem,namely in the controller to solve the intermediate variable step the inversion method.A problem in which repeated derivation produces a large number of differential terms that make it difficult to implement.This simplifies controller and parameter design.(4)The above two control methods,sliding mode variable structure control and traditional PID control comparison,MATLAB simulation results show that the sliding mode control has strong robustness,anti-interference,short response time,fast recovery speed,more excellent than PID control.Finally,the correctness of the theory is verified by experiments.