多参仪器模糊自调谐离散滑模控制方法

针对多参数仪器的非线性高精度大动态控制问题， 提出对电机力矩脉动、 摩擦扰动及其他未建模干扰等非线性因素，用两个独立的模糊自调谐回路进行自适应抑 制衰减的方案，并进行了理论分析和建模仿真，表明该方案在宽速率范围内以及高动态 仿真情况下，幅值误差小于5%，相位误差小于5°，并可在大动态宽速率范围内进行自 适应调整，因此可改善多参数仪器在非线性复杂扰动情况下的工作性能。

Multi-parameter Instrument Fuzzy Self-adjustment and Discrete Sliding Mode Control

To aim at improving the existing non-linear high precision and dynamic control problem of multi-parameter instrument, a fuzzy self-adjusting sliding-mode control scheme is proposed, two fuzzy self-adjusting loop module is use to specially suppress the toque friction and un-modeled disturbances. The scheme is theoretically analyzed and simulated, which shows that it can do self-adjustment under wide velocity range and high dynamics, so that it's helpful in improving the performance while working in multi-disturbances condition.