针对链传动弹仓传动过程中存在非线性摩擦、冲击、参数大范围变化和抖振问题，提出一种基于指数趋近律的滑模控制方法.通过引入模糊自适应算法，完成对趋近律参数的在线调整，实现系统的精确定位控制，使系统在保证快速趋近的同时具有较高的鲁棒性能.采用饱和函数代替切换函数，改进后的饱和函数使得整个切换过程更加连续，有效抑制了趋近过程中系统的抖振.理论分析表明，提出的算法能够保证滑模到达条件成立.实验结果表明，该控制策略的综合控制性能优于等效滑模控制策略的控制效果，能够使系统具有良好的位置跟踪性能，较强的抗干扰能力和理想的定位精度.
A control scheme based on exponential reaching law is proposed for a class of nonlinear systems with wide variations of parameters, chattering and nonlinear friction problems. An adaptive fuzzy sliding mode control (AFSMC) scheme is employed to realize the precision position control, to adjust the unknown external disturbance, to adjust the reaching law parameters online, to guarantee the tracking performance and enhance the robustness. The traditional sign function is replaced by a saturation function. This improved saturation function ensures that the switching process is more continuous. Chattering of the chain driving shell magazine is also restrained. The stability and convergence of the overall system are proved by the Lyapunov method. Experimental results show that the performance of the chain driving shell magazine by using this AFSMC scheme is better than using equivalent sliding mode control (SMC) scheme. The system has a good position tracking performance, a strong anti-interference capability and a desired positioning accuracy.
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