Adaptive Sliding Mode Control of Chain Magazine Based on Friction Compensation
An adaptive nonlinear sliding mode control(ANLSMC)method based on friction compen-sation was proposed to solve the problems of buffeting and slow convergence speed in the accurate con-trol of chain magazine.The LuGre dynamic friction model was introduced to compensate for the maga-zine model,which makes the magazine model closer to the real working environment.The traditional linear sliding mode function was improved to a nonlinear sliding mode function and combined with the adaptive algorithm to improve the robustness of the system,accelerate the convergence speed and effec-tively reduce the buffeting.The simulation results show that the ANLSMC method reduces the tracking error of the magazine,effectively reduces the buffeting and has a faster convergence speed compared with the linear sliding mode adaptive control method.
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