滑模变结构控制在三电平变换器中的应用研究

滑模变结构控制策略具有鲁棒性强、算法简单、动态品质好等优点，为此，本文首次将滑模变结构控制策略引入到三电平变换器中。首先介绍了直接滑模控制策略，然后给出了三电平变换器直接滑模控制策略的设计方法，最后对滑模控制三电平变换器进行仿真分析，并和PWM控制三电平变换器做比较，仿真结果验证了滑模变结构控制策略可以大大提高变换器鲁棒性和动态品质。     

航空发动机模糊滑模变结构控制研究

针对航空发动机是一个具有时变不确定性的非线性系统,结合模糊控制和滑模变结构控制的特点,提出了一种基于模糊滑模变结构控制的航空发动机控制方法.采用线性滑模面和指数趋近律设计变结构控制器,应用模糊逻辑系统自适应调节切换增益,避免了传统滑模变结构控制系统在到达阶段对不确定性的敏感性,消除了滑模控制中的抖振.通过数字仿真,结果表明所设计的模糊滑模变结构控制器对系统的参数摄动和外部干扰具有不变性,使被控系统在整个控制阶段都具有较强的鲁棒性.     

滑模变结构控制在平流层飞艇姿态控制中的应用

为了较好地控制平流层飞艇的姿态,将滑模变结构控制方法和PID控制方法应用于平流层飞艇的姿态控制设计中,该飞艇模型具有参数静不稳定性。首先,以平流层飞艇平台为研究对象,建立了飞艇的六自由度线性动力学方程。然后,结合滑模变结构控制律和经典控制方法,设计了飞艇姿态控制的滑模控制器和PID控制器。最后,通过数据仿真,得出了较好的姿态控制效果,并对两种控制方法进行了对比分析。仿真结果表明,滑模变结构控制可以作为平流层飞艇平台姿态控制的研究方法,能够较好地控制飞艇的姿态。     

AUV控制系统的设计与实现

针对自主式水下航行器(AUV)的自动控制问题。设计神经网络改进的趋近率滑模变结构控制,在相同条件下分析比较PID控制,S面控制和滑模变结构控制方法的特点。仿真结果表明改进的滑模变结构控制稳定性好,并且能够有效的减小抖振。     

Buck三电平变换器中滑模控制应用研究

滑模变结构控制具有鲁棒性强,动态品质好等优点。文中以Buck三电平为例论述利用滑模变结构的理论分析,设计了Buck三电平变换器的方法,详细讨论了滑模面的选取对系统性能的影响,并进行了等效控制、稳定性和存在性的证明。最后将滑模控制buck三电平与传统的PWM控制Buck三电平变换器进行了仿真分析和比较。研究结果验证了滑模变结构控制策略可以大大提高变换器的鲁棒性和动态品质。     

机械手RBF神经网络滑模迭代学习控制

在机械手的轨迹控制的迭代学习控制中,迭代学习的学习律难以选择。本文结合RBF神经网络滑模变结构控制和迭代学习控制的基本思想,提出采用RBF神经网络滑模变结构控制确定学习律的方法。并运用Matlab软件Simulink对该方法应用于机械手轨迹跟踪控制的情况进行了仿真研究,结果表明该方法具有学习速度快、跟踪精度高、鲁棒性强等优点。     

空天飞行器姿态运动的模糊滑模鲁棒控制研究

针对空天飞行器(ASV)的姿态系统的非线性、强耦合和不确定性,提出了一种分散模糊滑模变结构控制方法.首先基于反馈线性化方法将ASV姿态系统解耦成3个独立的子系统;然后应用模糊滑模变结构控制方法分别设计了各子系统的姿态控制器.通过结合模糊控制与滑模变结构控制,有效抑制了ASV姿态系统的建模误差以及外部干扰.理论分析和仿真研究表明,所提方法具有控制精度高、鲁棒性强、便于工程实现等优点.     

PMSM调速系统的积分滑模控制方法设计

如今电机在汽车、电梯、船舶等各个领域得到了广泛的应用.PMSM(永磁同步电机)凭借其效率高、体积小等特点,在电机工业技术领域引发了广泛的关注.在这样的背景下,本文对PMSM交流调速系统的控制算法进行了研究,通过将积分型滑模变结构控制算法应用于永磁同步电机的速度控制中,实现了永磁同步电机调速系统的积分型滑模变结构控制,并进行了仿真研究.同时针对普通积分型滑模控制算法中存在的不足,提出了改进的方案即基于自适应增益的积分型滑模控制算法,并且对这种方法进行了仿真.仿真结果表明,改进方案有着很好的抗扰动性能,并且能够明显改善普通的积分型滑模控制中存在的不足.     

基于滑模变结构的高速同步电机直接转矩控制

针对高速同步电机,文章研究了基于滑模变结构的无传感器直接转矩控制。该控制方式将滑模变结构和直接转矩控制相结合,用以改善电机定子磁链和电磁转矩的脉动。本文对基于滑模变结构的无传感器高速同步电机直接转矩控制和传统直接转矩控制系统性能中的定子电流、电磁转矩和定子磁链轨迹分别进行了仿真对比分析。仿真结果表明,采用基于滑模变结构的无传感器直接转矩控制方式可以减小定子电流和电磁转矩的脉动,定子磁链频带宽度变化较小,适合对高速同步电机控制。     

高精度数字随动系统设计

介绍了一种以永磁同步伺服电机为控制对象的全数字位置随动系统，描述了系统的硬件组成和软件设计，在控制策略上采用了滑模变结构控制和基于α-β-γ滤波外推的前馈控制技术。     

Analysis and Experimental Study of Proportional-Integral Sliding Mode Control for DC／DC Converter

DC/DC converter using the proportional-integral (PI) sliding mode control (SMC)scheme is investigated, including the selection of the switching surface, the proof of the reaching condition and the existence condition of sliding motion. The sliding regime and the local stability are given. The implementation of the PI SMC is simpler than other SMC schemes and the steady-state error is eliminated. A prototype based on Buck converter is built up. The experimental results show that the dynamic performance and robustness to the parameter variations and external disturbances are improved.     

Finite-time control of DC–DC buck converters via integral terminal sliding modes

This article presents novel terminal sliding modes for finite-time output tracking control of DC–DC buck converters. Instead of using traditional singular terminal sliding mode, two integral terminal sliding modes are introduced for robust output voltage tracking of uncertain buck converters. Different from traditional sliding mode control (SMC), the proposed controller assures finite convergence time for the tracking error and integral tracking error. Furthermore, the singular problem in traditional terminal SMC is removed from this article. When considering worse modelling, adaptive integral terminal SMC is derived to guarantee finite-time convergence under more relaxed stability conditions. In addition, several experiments show better start-up performance and robustness.     

Sliding mode control and stability analysis of buck DC-DC converter

This paper is proposed to deal with the voltage regulation of buck DC-DC converter based on sliding mode control (SMC) technology. A buck DC-DC converter with parasitic resistance is inherently a bilinear system possessing inevitable uncertainties, such as variable resistive load and input disturbance. First, the buck DC-DC converter is modified into an uncertain linear model. Then, SMC technology is adopted to suppress the input disturbance and reduce the effects from the load variation. In addition, the continuous conduction mode (CCM) for normal operation can be guaranteed by the design of sliding function. Finally, experimental results are included for demonstration.     

A fault-tolerant strategy based on SMC for current-controlled converters

The sliding mode control (SMC) is used to control variable structure systems such as power electronics converters. This paper presents a fault-tolerant strategy based on the SMC for current-controlled AC–DC converters. The proposed SMC is based on three sliding surfaces for the three legs of the AC–DC converter. Two sliding surfaces are assigned to control the phase currents since the input three-phase currents are balanced. Hence, the third sliding surface is considered as an extra degree of freedom which is utilised to control the neutral voltage. This action is utilised to enhance the performance of the converter during open-switch faults. The proposed fault-tolerant strategy is based on allocating the sliding surface of the faulty leg to control the neutral voltage. Consequently, the current waveform is improved. The behaviour of the current-controlled converter during different types of open-switch faults is analysed. Double switch faults include three cases: two upper switch fault; upper and lower switch fault at different legs; and two switches of the same leg. The dynamic performance of the proposed system is evaluated during healthy and open-switch fault operations. Simulation results exhibit the various merits of the proposed SMC-based fault-tolerant strategy.     

舵机加载系统的自适应滑模控制策略研究

舵机加载系统主要用于模拟导弹在飞行过程中舵面受到的各种气动力矩,但存在力矩效率低,多余力较多,干扰复杂等特点。为使电动加载系统的仿真度和力矩精度进一步提高,采用自适应滑模控制对多余力矩和其他位置干扰进行抑制,同时对滑模控制的切换函数进行改进,以削弱系统存在的抖振。仿真结果显示,加载系统的精度和抗干扰能力有进一步提高。     

具有噪声扰动的统一混沌系统的同步控制

研究了一类具有噪声扰动的统一混沌系统的同步控制问题。基于滑模变结构控制理论,提出了利用不确定性观测器估计扰动噪声,用噪声的观测值来设计控制器的新方法,而且适当选取观测器反馈增益可以使观测误差充分的小,从而可得到几乎没有受到扰动时的控制效果。和常规滑模变结构控制方法相比,所设计的控制器既能有效地抑制抖振,又能降低控制器参数设计的保守性。最后,基于Matlab 6.5软件对Lorenz混沌系统进行分析和数值模拟,验证了该滑模控制方法在混沌同步中的优良性能。     

Adaptive sliding manifold slope via grasped object stiffness detection with a prosthetic hand

Upper limb amputees have expressed the desire for their prosthetic hands to better adapt to the parameters of different grasped objects. In response to this need, an adaptive sliding mode controller (ASMC) is developed that has a variable-slope manifold which is dependent upon the stiffness of the grasped object. The ASMC is experimentally compared to a sliding mode controller (SMC) which has a constant manifold slope over a wide range of grasped object stiffness, ranging from an empty hand to a steel bar. Experimental results indicate that both controllers have satisfactory percent overshoot characteristics; however, the ASMC has significantly less absolute error for all experiments performed with eight different levels of grasped object stiffness.     

一种改进的时间最优控制算法

雷达进行目标跟踪时,天线需要在不同的目标间进行大角度切换,而时间最优控制算法可以使电机获得最大的驱动能力并驱动天线快速地切换到目标。针对该算法中的"颤振"问题,提出了在开关线两侧设置"缓冲区"的实用型改进算法。此外为了提高系统的稳态性能,当运动至目标位置邻域时,由时间最优控制算法切换为滑模变结构控制算法。工程应用结果表明,该组合控制算法有效地解决了时间最优控制在实际应用中的"颤振"问题,并能保持很好的稳态性能。     

光伏系统最大功率跟踪技术的研究

基于传统的滑膜控制算法,本文采用一种改进的指数趋近律方法,来实现最大功率跟踪,使得控制输出变量可以为连续变量,再通过调制器得到开关管的控制信号,实现控制,以弥补传统方法的参数灵敏度、适用范围受限制等方面的缺陷。通过对传统算法和改进算法的仿真比较,得出了改进的滑模控制法能够快速地跟踪最大功率点,振荡幅度较小,鲁棒性较好。     

Leader‐Following Formation Control of Multiple Robots with Uncertainties through Sliding Mode and Nonlinear Disturbance Observer

This paper presents a control scheme for the leader‐following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader‐following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB‐based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC‐based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second‐order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.