In order to balance responsibility and steady performance of flywheels

a combination of constant switching variable structure control and changing integration rate control was established on the basis of analysis of constant switching variable structure control and changing integration rate control. Constant switching variable structure control with switching characteristics

fast response

but there are buffeting. Changing integration rate PI can change the accumulation of integration speed

corresponding with the size of the deviation

with high stable precision. The advantages of changing integration rate can make up shortcomings of constant switching variable structure control. So method of variable-structure changing integration rate control is put forward. The experimental results indicate that the system dynamic performance and steady performance have been greatly improved. Under sine orders of offset 1000rpm

amplitude 100rpm

cycle 0.01Hz

the tracking error is 2rpm