鎽� 瑕侊細 閲濆皪(du矛)鏌愰珮绮惧害浼烘湇绯荤当(t菕ng)閫熺巼骞崇┅(w臎n)鎬х殑瑕佹眰銆傜郸鍑轰簡楂樼簿搴︿己鏈嶇郴绲�(t菕ng)鐨勪竴绋叿鏈夎嚜瀛�(xu茅)缈�(x铆)寰嬭畩绲�(ji茅)妲�(g貌u)鎺у埗鍣ㄨō(sh猫)瑷�(j矛)鏂规硶锛屾笡寮变簡鍛ㄦ湡鎬у姏鐭╂尝鍕�(d貌ng)灏�(du矛)閫熺巼绯荤当(t菕ng)鎬ц兘鐨勫奖闊匡紟骞朵笖璀夋槑浜嗚┎鏂规硶鐨勭┅(w臎n)瀹氭€у拰榄鎬�銆傚(sh铆)椹�(y脿n)绲�(ji茅)鏋滆〃鏄庯紟瑭叉帶鍒跺櫒鍏锋湁鑹ソ鐨勬帶鍒舵€ц兘鍜岄妫掓€ц兘锛庤€屼笖鏈夋晥鍦颁繚璀変簡楂樼簿搴︿己鏈嶇郴绲�(t菕ng)閫熺巼鐨勫钩绌�(w臎n)鎬ф寚妯�(bi膩o)瑕佹眰銆� 闂�(gu膩n)閸佃锛�璁婄祼(ji茅)妲�(g貌u)鎺у埗锛� 鑷(xu茅)缈�(x铆) [align=center][b]The design of self鈥攍earning variable structure controller of serve system[/b][/align] Abstract锛�Directed to the velocity smoothness requirement of high precision serve system锛宼he self-learning variable structure controller is proposed锛嶵his design method weakens the torque fluctuation s influence on system performance锛� The stability and robustness are proved锛嶵he experiment shows this controller has good performance and robustness锛宎nd guarantees the velocity smoothness of high precision serve system锛� Key words锛�variable structure control锛泂elf鈥攍earning 1 寮� 瑷€ 鏌愬瀷浠跨湡杞�(zhu菐n)鑷�(t谩i)鏄埅澶╁櫒浠跨湡鐨勯棞(gu膩n)閸佃ō(sh猫)鍌欙紟鍏堕珮绮惧害浼烘湇绯荤当(t菕ng)鐨勯€熺巼骞崇┅(w臎n)鎬ц姹傚緢楂橈紝鏈枃灏�(du矛)瑭茬郴绲�(t菕ng)閫熺巼骞崇┅(w臎n)鎬ч€�(j矛n)琛屼簡鍒嗘瀽鐮旂┒銆傚皪(du矛)浜庨珮绮惧害浼烘湇绯荤当(t菕ng)閲囩敤姗�(j墨)姊拌桓鎵垮拰鐒�(w煤)鍒风洿娴佸姏鐭╅浕姗�(j墨)锛屽共鎿惧姏鐭╀富瑕佹湁鎽╂摝鍔涚煩鍜岀劇(w煤)鍒风洿娴侀浕鍕�(d貌ng)姗�(j墨)鐨勬尝鍕�(d貌ng)鍔涚煩锛庢懇鎿﹀姏鐭╀富瑕佸奖闊夸綆閫熸檪(sh铆)绯荤当(t菕ng)鐨勯€熺巼骞崇┅(w臎n)鎬�锛屽紩璧蜂綆閫熺埇琛�銆傚厠鏈嶆懇鎿﹀姏鐭╃殑甯歌(ji脿n)鏂规硶鏄彁楂樹己鏈嶅墰搴﹀拰澧炲ぇ闃诲姏銆傝€岄浕姗�(j墨)娉㈠嫊(d貌ng)鍔涚煩鏍规摎(j霉)鐢�(ch菐n)鐢熺殑姗�(j墨)鐞嗕笉鍚岋紝涓昏鍖呮嫭榻掓Ы娉㈠嫊(d貌ng)鍔涚煩鍜岄浕纾佹尝鍕�(d貌ng)鍔涚煩鍏╃ó锛氶綊妲藉姏鐭╂槸杞�(zhu菐n)瀛愭案纾侀珨鑸囧畾瀛愰綊妲界浉浜掍綔鐢ㄨ€屽紩璧风殑锛庡悓瀹氬瓙闆绘祦鐒�(w煤)闂�(gu膩n)锛涢浕纾佹尝鍕�(d貌ng)鍔涚煩鏄敱杞�(zhu菐n)瀛愭案纾侀珨鍜屽畾瀛愰浕娴佺殑鐩镐簰浣滅敤鐢�(ch菐n)鐢熺殑銆� 榛�(di菐n)鎿婃铏曚笅杓夎珫鏂囧師鏂�