中文摘要：

针对外来扰动和不确定参数项对电动舵机伺服控制的影响以及传统滑模控制的抖振现象,设计了一种基于等效控制的离散模糊滑模控制方法。该方法利用模糊控制器调整切换控制量的值,消除不确定项及外来扰动的影响,柔化了控制信号。分析了直流电动舵机系统的工作原理并建立了数学模型,给出了离散模糊变结构控制器的设计过程,证明了系统的稳定性。仿真结果表明所设计的控制系统具有较好的鲁棒性,同时又降低了常规滑模控制所产生的抖振。

英文摘要：

An equivalent control based on fuzzy sliding mode control method is designed to solve the problem of chattering in sliding mode control as well as the impact of external disturbances and uncertainties on electric steering engine servo system.Through adjusting and switching the controlled quantity with fuzzy controller,this method helps to eliminate such impacts and soften the control signal.The working principle of DC electric steering engine is analyzed and related mathematical model is established;at the same time,the discrete fuzzy sliding mode controller design method is explored in detail and the stability of system is proved.Simulation results demonstrate that the designed control system can effectively decrease the chattering phenomenon without decreasing the robustness of system,which shows a better control effectiveness.