鎽� 瑕侊細灏囨粦?锛熷垈鑼�?y墨ng)鐢ㄥ埌浣庨€熸懇鎿︿己鏈嶇郴绲�(t菕ng)涓�銆備豢鐪熷(sh铆)椹�(y脿n)鐨勭祼(ji茅)鏋滆〃鏄�锛岄噰鐢ㄦ粦?锛熷垈棰戠墶閫€鍊屛ｄ簡娆ь挅鍒皔(t菕ng)涓嶅儏鑳介仈(d谩)鍒伴珮绮惧害杩借工锛岃€屼笖榄鎬уソ锛屽叾鎺у埗鏁堟灉鏄庨’鍎�(y艒u)浜庡偝绲�(t菕ng)鐨凱ID鎺у埗鏂规硶銆� 闂�(gu膩n)閸佃锛�婊戞ā鎺у埗;浣庨€熸懇鎿︿己鏈嶇郴绲�(t菕ng);浠跨湡 Abstract: The sliding model control is introduced by low speed friction servo system. The results of simulation experiments suggest that the system based on SMC has not only reach high accuracy tracking but also good robustness, its control effect is better than the traditional PID control methods. Key Words: Sliding model control; Low speed friction servo system; Simulation 寮� 瑷€ 銆€銆€鍦ㄩ珮绮惧害銆佽秴浣庨€熶己鏈嶇郴绲�(t菕ng)涓紝鐢变簬闈炵窔鎬ф懇鎿︾挵(hu谩n)绡€(ji茅)鐨勫瓨鍦紝浣跨郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鍙婇潨鎱�(t脿i)鎬ц兘鍙楀埌寰堝ぇ绋嬪害鐨勫奖闊�锛屼富瑕佽〃鐝�(xi脿n)鐐轰綆閫熸檪(sh铆)鍑虹従(xi脿n)鐖鐝�(xi脿n)璞�锛岀┅(w臎n)鎱�(t脿i)鏅�(sh铆)鏈夎純澶х殑闈滃樊鎴栧嚭鐝�(xi脿n)妤甸檺鐠�(hu谩n)鎸暕銆� 銆€銆€鎽╂摝鐝�(xi脿n)璞℃槸涓€绋京(f霉)闆滅殑銆侀潪绶氭€х殑銆佸叿鏈変笉纰哄畾鎬х殑鑷劧鐝�(xi脿n)璞★紝鎽╂摝瀛�(xu茅)鐨勭爺绌剁祼(ji茅)鏋滆〃鏄�锛屼汉椤炵洰鍓嶅皪(du矛)浜庢懇鎿︾殑鐗╃悊閬庣▼鐨勪簡瑙ｉ倓鍙仠鐣欏湪瀹氭€ц獚(r猫n)璀�(sh铆)闅庢锛岀劇娉曢€氶亷鏁�(sh霉)瀛�(xu茅)鏂规硶灏�(du矛)鎽╂摝閬庣▼绲﹀嚭绮剧⒑鎻忚堪銆傚湪鐝�(xi脿n)瀵�(sh铆)鐢熸椿涓�锛屾懇鎿︾従(xi脿n)璞″咕涔庣劇铏曚笉鍦ㄣ€傚湪鏈変簺鎯呮硜涓�锛屾懇鎿︾挵(hu谩n)绡€(ji茅)鏄汉鍊戞墍甯屾湜鐨�锛屽姹借粖鐨勫墡杌婄郴绲�(t菕ng)锛屼絾灏�(du矛)浜庢(j墨)姊颁己鏈嶇郴绲�(t菕ng)鑰岃█锛屾懇鎿︾挵(hu谩n)绡€(ji茅)鍗绘垚鐐烘彁楂樼郴绲�(t菕ng)鎬ц兘鐨勯殰绀�锛屼娇绯荤当(t菕ng)鍑虹従(xi脿n)鐖銆佹尟钑╂垨绌�(w臎n)鎱�(t脿i)瑾ゅ樊銆傜偤浜嗘笡杓曟(j墨)姊颁己鏈嶇郴绲�(t菕ng)涓懇鎿︾挵(hu谩n)绡€(ji茅)甯朵締鐨勮矤(f霉)闈㈠奖闊�锛屼汉鍊�?c猫)璇栫絽搴疯喍?sh铆)韪愪腑绺界祼(ji茅)鍑哄緢澶氭湁鏁堢殑鏂规硶锛屽儚鏀硅畩姗�(j墨)姊颁己鏈嶇郴绲�(t菕ng)鐨勭祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷�(j矛)锛屾笡灏戝偝鍕�(d貌ng)鐠�(hu谩n)绡€(ji茅);閬告搰鏇村ソ鐨勬饯(r霉n)婊戝姂锛屾笡灏忓嫊(d貌ng)闈滄懇鎿︾殑宸€�;閲囩敤閬╃暥(d膩ng)?sh霉)鐩垈钂瞐(b菙)鍎熸柟娉�锛屽皪(du矛)鎽╂摝鍔涢€�(j矛n)琛岃(b菙)鍎�?sh霉)?銆傚緸鎺у埗鐨勮搴︿締瑾紝鐐轰簡娓涜紩姗�(j墨)姊颁己鏈嶇郴绲�(t菕ng)涓懇鎿︾挵(hu谩n)绡€(ji茅)寮曡捣鐨勪笉鑹奖闊�锛屽彲閲囩敤婊戞ā璁婄祼(ji茅)妲�(g貌u)鎺у埗鏂规硶 銆備豢鐪熺祼(ji茅)鏋滆〃鏄�锛屾粦妯℃帶鍒讹紙SMC锛夊彲浠ユ秷闄ゆ懇鎿﹀湪浼烘湇绯荤当(t菕ng)涓€犳垚鐨勨€滃钩闋傗€濆拰鈥滄鍗€(q奴)鈥濈従(xi脿n)璞�锛屽苟涓斿叿鏈夊緢濂界殑榄鎬�銆� 銆€銆€瑭虫儏璜�(q菒ng)榛�(di菐n)鎿婏細婊�?锛熷垈鍦冭瘶閫€鍊屛ｄ簡娆ь挅鍒皔(t菕ng)涓殑鎳�(y墨ng)鐢�