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针对齿隙和非线性摩擦对A轴控制精度的影响,设计了增益自调节模糊控制器,通过引入基于连续指数函数的增益自调节策略,消除了传统模糊控制中增益切换引起的控制律突变.虽然增益自调节模糊控制可以实现良好的动态响应和较小的稳态误差,但其需要二维模糊控制规则表来计算控制律,这在一定程度上影响了控制系统的动态响应速度.因此,设计了增益自调节模糊滑模控制器,通过采用模糊控制来逼近滑模等效控制律中的非线性函数项,消除了传统滑模控制的抖振现象.实验结果表明,本文所设计的两种控制算法均能实现较快的零超调动态响应及较高的稳态精度,能有效提高整体叶盘型面的加工精度和表面一致性,并显著降低叶片表面粗糙度.
Aiming at the influence of backlash and non-linear friction on A-axis control accuracy, a gain self-adjusting fuzzy controller is designed. By introducing a gain self-adjusting strategy based on continuous exponential function, the sudden change of control law caused by gain switching in traditional fuzzy control is eliminated. Although the gain self-adjusting fuzzy control can achieve good dynamic response and small steady-state error, it requires two-dimensional fuzzy control rules table to calculate the control law, which to some extent, affects the dynamic response speed of the control system.Therefore, The gain self-adjusting fuzzy sliding mode controller is designed and the nonlinear function term in sliding mode equivalent control law is approximated by using fuzzy control, which eliminates the chattering phenomenon of traditional sliding mode control.Experimental results show that the designed two All kinds of control algorithms can achieve faster zero overshoot dynamic response and higher steady-state accuracy, which can effectively improve the processing accuracy and surface consistency of the overall leaf disk surface and significantly reduce the blade surface roughness.