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Design Method of Double Integral Sliding Mode Control for a Class of Mechanical Systems Based on Extended Disturbance Estimator

A mechanical system, double integral technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2020-06-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

An adaptive robust controller is given in [6], but requires a known upper bound of the disturbance

Method used

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  • Design Method of Double Integral Sliding Mode Control for a Class of Mechanical Systems Based on Extended Disturbance Estimator
  • Design Method of Double Integral Sliding Mode Control for a Class of Mechanical Systems Based on Extended Disturbance Estimator
  • Design Method of Double Integral Sliding Mode Control for a Class of Mechanical Systems Based on Extended Disturbance Estimator

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Embodiment

[0156] The method of the present invention can be used for disturbed systems with n degrees of freedom. However, on the one hand, the coupling effect between each degree of freedom can be regarded as a kind of disturbance and included in d; Based on the double integral sliding mode control (DO-DISMC) method of the extended disturbance observer, the specific implementation process of the present invention will be described below taking the nonlinear thrust active magnetic suspension bearing system (TAMB) as the object.

[0157] The simplified geometry of the TAMB control system is as image 3 , where z is the rotor position and is also the distance from the nominal air gap z 0 deviation, m is the mass of the rotor, F z is the electromagnetic force, f dz is interference, i 0 is the bias current, i z is the control current.

[0158] The dynamic model of the TAMB control system can be described as

[0159]

[0160] where c is a constant, the nonlinear electromagnetic forc...

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Abstract

The invention discloses a double-integral sliding mode control design method for primary mechanical system based on an extended interference estimator. The method comprises the steps of: constructing the kinetic equation of a primary mechanical system; secondly, designing a nonlinear extended interference estimator and an improved double-integral sliding mode surface; and finally, designing the extended interference estimator and an improved double-integral sliding surface to create a controller. The double-integral sliding mode control design method avoids knowing the upper bound of the interference and has the good tracking performance for different types of tracking references, including aperiodic trapezoidal instructions, periodic sinusoidal instructions and variable frequency sinusoidal instructions, regardless of whether the system is subjected to fading type interference or non-fading type interference. The designed nonlinear extended interference estimator can estimate the fading type interference and can also achieve effective estimation of the non-fading type interference under the condition that the upper bound of the interference is not required to be known. Based on the improved double-integral sliding surface, the whole-process sliding mode is achieved, and the robustness of a control system is improved.

Description

technical field [0001] The invention belongs to the technical field of control system design, in particular to a sliding mode control design method. Background technique [0002] Due to its strong robustness, sliding mode control (SMC) has received extensive attention in mechanical systems, power systems, electronic systems, and chemical systems [1-12]. [0003] In traditional SMC, the bounds of the disturbance usually need to be known, and the controller is designed according to the worst-case principle [3]. Therefore, control precision is limited. In general, an increase in accuracy is contradictory to an increase in robustness. Nevertheless, many researchers have studied some methods to deal with this kind of problem. Some design different sliding surfaces [11,13], some improve the controller design method [6,14], and some use neural network [8], fuzzy logic [15], disturbance observer [1,16], etc. method to approximate or estimate disturbances in the system, thereby i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 肖玲斐申斌马磊明阮祝鑫
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS