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针对在电液伺服系统跟踪控制中存在非线性不确定参数和外界扰动的问题,提出了一种基于积分微分器的滑模Lyapunov函数的控制方法。首先,在只有位移信号测量输出的情况下,采用高阶积分链式微分器对其速度和加速度信息进行预估。系统存在非线性不确定参数,利用微分器对状态和不确定项的实时估计,设计出积分滑模控制器,实现自适应规律以及对电液伺服系统中不确定扰动的抑制。搭建电液伺服系统AMESim模型并与Matlab构成联合仿真平台,对控制器进行仿真。仿真表明,该控制器具有良好的对非线性不确定参数变化的补偿能力和跟踪性能。 相似文献
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针对永磁同步直线电机参数的非线性引起的波动力以及滑模控制中的抖振问题,设计了一种基于新型滑模控制策略的电流环控制器.该方法利用积分滑模面消除静差,并且采用新型"趋近律加滤波器"的方法解决了传统滑模控制的抖振与趋近速度相矛盾的问题.详细分析了波动力产生的原因,然后介绍了新型的滑模控制策略加滤波器,验证了控制器的稳定性.仿真结果验证了设计方法的有效性. 相似文献
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在电液伺服系统优化设计的研究中,针对电液位置伺服系统的高阶非线性特性、系统参数不确定性以及系统状态信号测量困难的情况,提出一种基于滑模状态观测器的反演控制策略.策略采用滑模方法设计状态观测器,只需要位置传感器,不需要速度传感器和加速度传感器.对采用状态观测器之后的系统,设计反演控制器,针对系统中的不确定性,在反演控制的最后一步采用滑模控制设计,基于Lyapunov方法证明了系统中所有信号是一致最终有界的,闭环系统是稳定的.仿真结果表明,上述策略为电液伺服系统优化设计提供了参考. 相似文献
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飞行仿真转台伺服系统滑模控制器设计 总被引:2,自引:2,他引:2
针对转台位置伺服系统中存在的非线性摩擦环节.设计一种补偿摩擦的滑模控制器。该控制器把摩擦作为系统的有界扰动,利用滑模控制,在仅知道摩擦力矩上界的情况下,对摩擦进行补偿。仿真结果表明,该控制器有效地抑制摩擦力矩的影响,实现高精度的位置跟踪,鲁棒性强。 相似文献
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Wei Liu Si-yi Chen Hui-xian Huang 《International Journal of Control, Automation and Systems》2020,18(2):339-350
Aiming to solve the tracking control problem of a class of second-order underactuated mechanical systems with unknown model parts, external disturbances and noise disturbances, a double closed-loop layered integral terminal sliding mode control method based on sliding mode observer is proposed. At the outset, the Lagrange model of the system is transformed into an affine model, and a sliding mode observer is designed according to the system structure. Neatly, the outer loop controller is designed using the observer’s estimated state, and the output value of the outer loop controller is filtered with a low pass filter. Then the inner loop controller is designed by using hierarchical sliding mode control method. On a premise of ensuring tracking performance, the control method can maximally improve convergence speed and reduce chattering even if there are unknown model parts, external interference and noise interference phenomena in the system. This simulation results distinctly display the effectiveness of the control tactics. 相似文献
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A robust input-output-based discrete adaptive sliding mode controller is proposed. It combines an integral action, a nonlinear output feedback, an adjustable sliding mode and an adaptive plant parameter estimator. The controller design is carried out via the Lyapunov direct method. A pole assignment procedure is developed for determination of the integral control gain and the coefficients of the sliding mode hyperplane. An on-line update for coefficients of the hyperplane is used to improve control loop behaviour further. Compared with the optimally tuned proportional-integral-derivative (PID) controller, the new controller has increased robustness with regard to the variation in the main process parameters and it has much better set point tracking characteristics. The new controller also exhibits very good disturbance rejection property comparable work or better than to that obtained by the optimally tuned PID controller. Simulation experiments are made to illustrate the quality and robustness of control achieved. 相似文献
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For uncertain time‐delay systems with mismatch disturbances, this paper presented an integral sliding mode control algorithm using output information only. An integral sliding surface is comprised of output signals and an auxiliary full‐order compensator. The designed output feedback sliding mode controller can locally satisfy the reaching and sliding condition and maintain the system on the sliding surface from the initial moment. Since the system is in the sliding mode and two specific algebraic Riccati inequalities are established, the proposed algorithm can guarantee the stability of the closed‐loop system and satisfy the property of disturbance attenuation. Moreover, the design parameters of the controller and compensator can be simultaneously determined by solutions to two algebraic Riccati inequalities. Finally, a numerical example illustrates the applicability of the proposed scheme. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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研究提高关节机器人轨迹跟踪控制的性能,由于关节机器人运动中产生振动,影响系统的稳定性能。为解决上述问题,提出了一种反馈线性化的自适应模糊积分滑模控制方法。在上述方法的基础上,对机器人非线性动力学模型反馈线性化。为了进一步提高滑模控制的精度,设计了一种积分滑模面的滑模控制器,可以减弱积分滑模控制的抖振。通过设计一个模糊控制器,根据积分滑模面的大小自适应地调节积分滑模控制的切换部分,达到削弱抖振的目的。利用李亚普诺夫定理证明了控制系统的稳定性。仿真结果表明,改进方法有效地提高了关节机器人跟踪控制性能。 相似文献
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针对参数未知的船舶航向非线性控制系统数学模型,在考虑舵机伺服机构特性的情况下,船舶航向控制问题就成为一个虚拟控制系数未知的非匹配不确定非线性控制问题.基于多滑模设计方法和模糊逻辑系统的逼近能力,提出了一种多滑模自适应模糊控制算法,通过引入非连续投影算法和积分型Lyapunov函数,提高了系统在抑制参数漂移、控制器奇异等方面的能力.借助Lyapunov函数证明了所设计控制器使最终的闭环非匹配不确定船舶运动非线性系统中的所有信号有界,且跟踪误差收敛到零.仿真研究表明:该算法与传统的PID控制相比,具有较好的跟踪能力和自适应能力. 相似文献
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This work considers the sliding mode control problem of a class of discrete‐time uncertain switched systems subject to detecting‐delay on mode signals, which may result in the asynchronous phenomenon between the controller and the switched system. Since the mode information of the controlled system is not available for the controller in time, a mode‐independent sliding surface will be introduced, by which an asynchronous sliding mode controller is designed, whose control gain and robust parameter will be changing according to the controller mode. In the analysis on the stability of the closed‐loop control system and the reachability of the specified sliding surface, the asynchronous characteristics are detailedly investigated. It is shown that the Lyapunov function may be not always decreasing along the state trajectories during the unmatched interval of controller modes and system modes. Nevertheless, it is proven that the state trajectories can be driven into a sliding region around the specified sliding surface in finite time. Finally, some numerical simulation results are provided. 相似文献
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Chaouki Mnasri Dhouha Chorfi Moncef Gasmi 《International Journal of Control, Automation and Systems》2018,16(5):2093-2102
In this paper, a robust integral sliding mode control problem for networked control systems with multiple data packet losses is investigated. The data packet losses occur in both sensor-to-controller and controller-to-actuator channels in a random way and they are modelled by independent Bernoulli binary distributed white sequences. The considered class of system is also subject to matched uncertainties and external disturbances presence. A specific sliding mode surface which take into consideration the stochastic nature of the system is proposed to generate a stable sliding mode dynamics for closed loop system. An integral sliding mode controller is designed to ensure the reachability of the specified sliding mode domain. Finally, simulation results, carried out on a linearized model of cart pendulum system, illustrate the effectiveness of the proposed approach. 相似文献
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针对传统带有滑模观测器的永磁同步电机控制系统中的转矩脉动大、抖振明显、反电动势估计精度差等问题,在速度环提出了基于双曲正弦函数的新型趋近率,结合模糊控制思想对趋近率参数实现自整定,设计了一种基于新型趋近率的模糊积分滑模速度环控制器;同时,在滑模观测器中提出基于变截止频率低通滤波器和修正反电动势观测器的两级滤波结构来抑制反电动势中的高频分量和纹波分量,并对转子位置进行合理补偿,设计了两级滤波滑模观测器;通过Lyapunov判据对本文提出的控制策略的稳定性进行了推导证明.仿真结果表明,与传统滑模观测器相比,本文控制器可使电机在启动和受到外部扰动时系统响应良好. 相似文献
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Amal Guezmil Hanen Berriri Remus Pusca Anis Sakly Raphael Romary Mohamed Faouzi Mimouni 《Asian journal of control》2019,21(1):520-532
This paper presents a passive fault tolerant control approach dedicated to stator inter‐turn short‐circuit fault of an induction machine. This control is based on sliding mode strategy and is implemented for validation on real‐time data acquisition and control platform. The proposed work highlights the integral sliding mode controller benefits during healthy and faulty operations. It can make the induction machine outputs to track their desired reference signals in finite‐time and allows to obtain a better dynamic response performances even in presence of fault. Moreover to avoid the use of a flux sensor, a second order sliding mode observer is used to estimate the rotor flux. Since the used observer converges in finite time, the closed‐loop stability of the proposed system (controller+observer) is proved using the Lyapunov stability theorem. Experimental results are conducted for squirrel cage induction machine to highlight the efficiency and applicability of the proposed fault tolerant control. 相似文献