Follow-up control method by means of fractional-order quick terminal sliding mode control

A terminal sliding mode, fractional-order technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as less-than-expected follow-up performance and low efficiency

Inactive Publication Date: 2018-01-12
西北机电工程研究所
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In fact, it is necessary to test the parameters of the speed control system, transmission, and load, and the

Method used

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  • Follow-up control method by means of fractional-order quick terminal sliding mode control
  • Follow-up control method by means of fractional-order quick terminal sliding mode control
  • Follow-up control method by means of fractional-order quick terminal sliding mode control

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Example Embodiment

[0071] The present invention will be further described below in conjunction with the drawings and embodiments. The present invention includes but is not limited to the following embodiments.

[0072] The scheme of the present invention has the following steps:

[0073] (1) Judging the angle command θ * (k) Has it arrived? If yes, go to step (2), otherwise go to step (11), k is the number of steps for angle control;

[0074] (2) Extract the following angle feedback θ(k), T sp Is the follow-up angle control cycle;

[0075] (3) Use the differentiator to solve the calculation instruction θ * (k) First to third derivative d 1 θ * (k),d 2 θ * (k),d 3 θ * (k):

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] among them, Is the sliding surface θ * (k-1) estimation error; Are respectively θ * (k) and its first-order, second-order, and third-order estimates; They are the first, second, third, and fourth-order gains of the differential estimator;

[0083] (4) Use the differentiato...

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Abstract

The invention provides a follow-up control method by means of fractional-order quick terminal sliding mode control. The follow-up control method includes receiving angle instructions, extracting follow-up angle feedback, computing first-order derivatives, second-order derivatives and third-order derivatives of the instructions and computing first-order derivatives and second order-derivatives of the angle feedback; computing angle control errors and first-order derivatives and second-order derivatives of the angle control errors; computing first-order derivatives of fractional-order quick terminal sliding mode surfaces and non-singular quick terminal sliding mode surfaces of position loops; computing fractional-order terminal sliding mode control quantities and current loop instructions offollow-up systems; acquiring line currents, computing alternating and direct shaft currents of PMSM (permanent magnet synchronous motors) in dq coordinates and inputting dq shaft voltage control quantities for inverse park transformation on the PMSM to control the motors. The follow-up control method has the advantages that the systems are excellent in dynamic response capacity, and static positioning and dynamic tracking precision requirements can be met.

Description

technical field [0001] The invention belongs to the field of artillery follow-up systems, and mainly relates to a robust control method for a follow-up control system that needs fast and precise tracking and can accurately and quickly follow input instructions. Background technique [0002] The traditional artillery follow-up consists of a three-loop control structure, which are position loop, speed loop, and current loop. The controller, power drive, and motor composed of the speed loop and current loop are usually called the drive speed control system. The controller is used in engineering The PI controller is adopted above, and the control strategy structure is simple and easy to adjust. This three-loop control structure and control method are widely used in various servo systems of artillery. Due to the high switching frequency of power electronics and the short time of electrical appliances in the current loop, the bandwidth of the current loop is generally within 500-6...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 李伟任海波肖文伟
Owner 西北机电工程研究所
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