Maglev train system control method based on integral sliding mode control of improved double power reaching law

A technology of maglev trains and integral sliding mode, which is applied in the general control system, control/regulation system, adaptive control, etc., and can solve the problems of weakening system chattering, existence, and system overshoot

Active Publication Date: 2018-01-19
HUBEI UNIV OF TECH
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  • Application Information

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Problems solved by technology

Although the PRL-I-SMC method can reduce the steady-state error of the system to a certain extent and weaken the chattering of the system, but due to th

Method used

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  • Maglev train system control method based on integral sliding mode control of improved double power reaching law
  • Maglev train system control method based on integral sliding mode control of improved double power reaching law
  • Maglev train system control method based on integral sliding mode control of improved double power reaching law

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Embodiment

[0112] 1. The present invention proposes an improved DPRL-I-SMC, which is specifically described as follows:

[0113] 1. Control design

[0114] Considering the shortcomings of the existing traditional SMC and PRL-I-SMC methods such as slow convergence speed and large disturbance, an improved double power reaching law integral sliding mode control (DPRL-I-SMC) method is proposed, which can Further effectively weaken the disturbance problem in the PRL-I-SMC, reduce the overshoot, and improve the dynamic characteristics.

[0115] According to the PRL-I-SMC method, the DPRL-I-SMC sliding surface can be designed as

[0116]

[0117] Among them, c 1 ,c 2 ,c 3 are constants, and c 1 >0,c 2 >0,c 3 >0.

[0118] The exponential reaching law is

[0119]

[0120] Among them, η 1 ,k 1 is a constant, is an exponential approach term, and its solution is

[0121] The double power reaching law is

[0122]

[0123] Combining formulas (32) and (33), the reaching law of t...

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Abstract

The invention relates to a maglev train system control method based on integral sliding mode control of a double power reaching law (DPRL-I-SMC), and especially relates to a maglev train system control method based on integral sliding mode control of an improved double power reaching law. A sliding mode controller is designed by combining the double power reaching law and the exponential reachinglaw and using a saturation function and an integral function. The improved DPRL-I-SMC method is superior to the traditional sliding mode control (SMC) and power reaching law-integral sliding mode control (PRL-I-SMC) methods in all aspects, can effectively eliminate the chattering of the system, reduce overshoot, accelerate convergence and overcome nonlinear factors to make a nonlinear system stably suspended, and shows excellent dynamic performance and anti-jamming performance.

Description

technical field [0001] The invention relates to a maglev train system control method based on integral sliding mode control of double power reaching law, in particular to a maglev train system control method based on integral sliding mode control of improved double power reaching law. Background technique [0002] Sliding mode control (SMC) has been extensively studied for decades and widely used in industrial applications due to its conceptual simplicity and strong ability to overcome disturbance and model uncertainty problems. However, the traditional SMC method will have serious chattering problems, which will seriously affect the control accuracy of the system, and even cause the system to lose stability. [0003] At present, there are quasi-sliding mode method, dynamic sliding mode method, high-order sliding mode method, filtering method, disturbance observer and reaching law to solve the chattering problem at home and abroad. The quasi-sliding mode method uses convent...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 潘健李维熊梓威刘天俊李坤冯雨丝廖冬初王淑青熊亦舟黎家成裴远阳余志婷
Owner HUBEI UNIV OF TECH
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