伺服电机积分型SMC速度控制策略

为解决伺服电机控制系统输出转速可控性差、波动大、动态响应慢等问题，提出积分型滑模变结构控制策略，设计负载转矩观测器解决控制过程中的负载扰动问题，基于Simulink搭建永磁同步电机速度控制系统仿真模型，搭建电机测试系统台架对控制系统的稳态性能和动态性能进行试验验证。研究结果表明，相比于传统比例积分微分控制和普通滑模变结构控制(Sliding Mode variable structure Control, SMC)，所设计的控制策略能够使控制系统达到稳态时速度波动较小，鲁棒性较好，抑制了SMC的抖振现象。

Integral SMC speed control strategy for servo motor

A speed control strategy based on integral sliding-mode was proposed to solve the problems such as poor control, large fluctuation and slow dynamic response of the output speed of servo motor system; the load torque observer was designed to resolve the load disturbance in the control process; the permanent magnet synchronous motor speed control model was established on the basis of the Simulink; the test system of motor was built to test and verify the steady-state performance and dynamic performance of the control system respectively. Experimental results show that, compared with the traditional proportion integration differentiation control and the ordinary SMC(sliding mode variable structure control), the designed control strategy can improve the robustness and rapidity of the system significantly and the chattering phenomenon of SMC control can be inhibited.