Modeling and Rotation Control of Servo System With Flexible Structure Based on New Deformation Description

The servo system with a flexible structure may experience speed fluctuations due to flexible vibrations, leading to decreased control accuracy. This article introduces a speed fluctuation suppression method for flexible structure servo systems using a neural-network sliding-mode control (NNSMC) strategy. Based on the dynamic model established by a new deformation description method, a flexible structure servo system control law is designed. The NNSMC strategy compensates for modeling errors through neural networks, enhancing the calculation accuracy of the driving torque and reducing the rotation error of flexible structures. In addition, a hyperbolic tangent function is proposed as the reaching law to reduce the chattering phenomenon. First, a dynamic model is established based on a new method of describing deformations using the assumed modal approach. The model not only achieves high accuracy in modeling but also simplifies calculations. Then, the control law and adaptive law of the NNSMC strategy are proposed according to the Lyapunov theorem. Finally, simulation and physical prototype experiments are conducted to illustrate the effectiveness of the control strategy. Comparative results show that the NNSMC strategy can weaken flexible structure speed fluctuations and increase control accuracy.