Purpose

The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice.

Design/methodology/approach

Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors.

Findings

The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively.

Originality/value

The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

中文翻译：

---

应用于超声波电机的自适应滑模控制器设计

目的

本文的目的是实现高精度无颤振滑模控制；控制参数调整方便，整个控制器在工程实践中使用方便。

设计/方法/方法

采用双滑模面，可以根据误差信号自适应调整控制信号的增益。设计了一种无颤振滑模控制器，并应用于超声波电机的控制。

发现

结果表明，对于跟踪幅度为35 mm的位置信号，传统滑模控制方法在抖振小前提下最大跟踪误差为0.3326 mm；边界层滑模控制方法最大跟踪误差为0.3927 mm，无颤振，连续切换自适应滑模控制最大跟踪误差为0.1589 mm，无颤振。相同控制参数下，增加0.5 kg载荷后，传统滑模控制方法、边界层滑模控制方法和连续切换自适应滑模控制的最大跟踪误差分别为0.4292 mm、0.5111 mm和0.1848 mm ， 分别。

原创性/价值

该方法不仅可以连续切换，而且切换信号的幅值具有自适应性，同时保持了传统滑模控制方法的鲁棒性，具有很强的工程应用价值。