Smooth nonsingular terminal sliding-mode control method suitable for control system with relative degree of 1

A non-singular terminal and control system technology, applied in the field of smooth non-singular terminal sliding mode control, can solve the problems of chattering controller, unable to output continuous and smooth control signal, unable to apply control system, etc.

Active Publication Date: 2015-01-07
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the controller cannot output a continuous and smooth control signal due to chattering in the existing non-singular terminal sliding mode control method, and the problem that it cannot be applied to a control system with a relative order of 1

Method used

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  • Smooth nonsingular terminal sliding-mode control method suitable for control system with relative degree of 1
  • Smooth nonsingular terminal sliding-mode control method suitable for control system with relative degree of 1
  • Smooth nonsingular terminal sliding-mode control method suitable for control system with relative degree of 1

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specific Embodiment approach 1

[0049] Specific implementation mode 1: The smooth non-singular terminal sliding mode control method applicable to the relative order 1 control system of this implementation mode, the control method is realized by the following steps:

[0050] Step 1. If the controlled system is a single-input single-output control system A with a relative order of 1: In the formula, Represents the state differential signal of the single-input single-output control system A, x represents the system state of the single-input single-output control system A, u represents the control quantity of the single-input single-output control system A, and t represents the time, then execute the control method of step 2; if The controlled system is a multiple-input multiple-output control system with a relative order of 1: In the formula, Represents the state differential signal of the multiple-input multiple-output control system, x s Indicates the state of the multiple-input multiple-output control...

specific Embodiment approach 2

[0082] The difference from the specific embodiment 1 is that this embodiment is applicable to the smooth non-singular terminal sliding mode control method of the relative order 1 control system. In order to make the input and output subsystem 2 track the upper reference model 1 in a limited time, the step 32 in the The design process of the control law u′ of the reference model 1 described in step 5 is specifically as follows:

[0083] First, define the bias variable e=z 1 –ξ, from the input-output subsystem 2 and the reference model 1, the deviation system with a relative order of 1 can be obtained: e · ( t ) = ( ϵ + 1 ) B 1,0 ( I + d ( t ...

specific Embodiment approach 3

[0099] The difference from Embodiment 1 or Embodiment 2 is that the smooth non-singular terminal sliding mode control method applicable to the relative order 1 control system of this embodiment, in order to make the reference model 1 converge to zero within a finite time and the deviation described in step 5 After the system converges to zero, the reference model 1 is equivalent to the input-output subsystem 2, and the approximate formula of the deviation system is zero, namely e · ( t ) = ( ϵ + 1 ) B 1,0 u ′ ( t ) - w ′ ( t ) + f m ′ ′ ...

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Abstract

The invention discloses a smooth nonsingular terminal sliding-mode control method suitable for a control system with a relative degree of 1, relates to a nonsingular terminal sliding-mode control method, and solves the problems that the existing nonsingular terminal sliding-mode control method exists buffeting to cause a controller not to output continuous smooth control signals and not be applied to the control system with the relative degree of 1. The smooth nonsingular terminal sliding-mode control method comprises the following steps: if the controlled system serves as a single-input single-output control system with the relative degree of 1, then acquiring the system state differential in real time, designing a nonsingular terminal sliding mode, introducing a virtual controlled quantity and utilizing an integral action to enable the actual output controlled quantity to be smooth and continuous; if the controlled system serves as a matched multi-input multi-output control system, then converting a scalar realization form of the control system to a matrix vector realization form; if the controlled system serves as a non-matching indeterminate multi-input multi-output control system, then conducting nonsingular state change for two times according to the controllability index r to resolve the system into r subsystems, introducing a reference model to eliminate time-varying uncertainty of input channels of the subsystems, and further designing a control law and a minor control law. The smooth nonsingular terminal sliding-mode control method disclosed by the invention can be applied to smooth nonsingular terminal sliding-mode control of the control system with the relative degree of 1.

Description

technical field [0001] The invention relates to a smooth non-singular terminal sliding mode control method suitable for a relative order 1 control system. Background technique [0002] The existing non-singular terminal sliding mode control methods are only suitable for control systems with relative order ≥ 2, and the application fields have certain limitations. [0003] (1) The non-singular terminal sliding mode control method is a nonlinear sliding mode control method that has emerged in recent years, which can make the system state global converge in a finite time, so it has a good application prospect in the field of high-speed and high-precision control. However, since the controller design still uses the traditional sliding mode control design method, it is currently only applied to electromechanical systems with a relative order ≥ 2, such as manipulators, permanent magnet synchronous motors, and DC converters. [0004] (2) The chattering problem exists in the existin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 王艳敏曹雨晴夏红伟申立群
Owner HARBIN INST OF TECH
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