Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification

Sliding Mode Control of Ball Screw Meta-Action Unit Based on Disturbance Compensation and Inertia Identification

Blog Article

To solve the problems of dynamic model parameter perturbation and external disturbances during the operation of the ball screw meta-action unit, an adaptive sliding mode control method based on disturbance compensation and inertia identification is proposed in this paper.First, a model of the ball screw meta-action unit is established and the dynamic equation is derived.Taking into account the uncertainty of the dynamic parameters, a least squares method with a forgetting factor is introduced to identify the moment of inertia in real hyde rave price time, and the identification results are utilized to adaptively adjust the sliding mode control law.

Second, a nonlinear disturbance observer is designed to effectively observe the load disturbance, and the observed value is substituted into the sliding mode control as feedforward compensation to improve the anti-interference ability of the controller.Committed to the chattering of traditional sliding mode control, an improved adaptive savage audio exponential sliding mode reaching law is exploited to construct a novel sliding mode controller, thereby suppressing the slid mode chattering more thoroughly.Finally, the superiority of the proposed method is verified by MATLAB/Simulink simulation and compared with the other two control methods; the control method proposed in this paper can effectively improve the tracking performance of the system and has good robustness.