简介:直线电机驱动的H型数控平台系统在加工零件时,负载扰动、外部干扰和两电机安装的差异与机械耦合会影响单轴的跟踪精度且会产生同步误差。针对此问题,本文首先用拉格朗日方法给H型平台建模,然后提出一种改进的非奇异终端滑模控制(NTSMC)来进行位置控制器的设计,在不失滑模控制鲁棒性的情况下,有效地削弱了该控制所产生的抖振问题,提高了单轴的跟踪精度。在两轴间采用Sugeno型模糊神经网络(SFNN)补偿控制器来动态补偿H型平台的同步误差。通过模糊神经网络以任意精度逼近非线性系统的能力使同步误差在有限时间内趋近于零,以满足H型平台数控系统的高精度加工要求。仿真结果表明,所设计的控制系统能够有效提高系统的同步控制精度和鲁棒性。
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