Variable gain-based supercoiled sliding mode control method

A control method and super-helical technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems that affect robustness, aggravate control input chatter, etc., and achieve improved response speed, robustness suppression, and chatter suppression shock effect

Active Publication Date: 2021-02-12
CENT SOUTH UNIV
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the greater the absolute value of the approach rate at this time, the greater the range of motion of the system state trajec

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Variable gain-based supercoiled sliding mode control method
  • Variable gain-based supercoiled sliding mode control method
  • Variable gain-based supercoiled sliding mode control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0052] The invention discloses a superhelical sliding mode control method based on variable gain, which is mainly applied to the control of multi-axis systems such as manipulators; the gain of the power term in the general superhelical algorithm is redesigned as a variable gain, and the new gain is used as The output of the first-order system is proportionally increased by the absolute value of the sliding mode function, and the limited function is used as the input signal of the first-order system, and the sharp change degree of the input signal is smoothed by using its low-pass filtering characteristics. The new gain has the following advantages: when the system state ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a variable gain-based supercoiled sliding mode control method, and the variable gain-based supercoiled sliding mode control method is mainly applied to control of multi-axis systems such as a mechanical arm. The power item gain in a general supercoiled algorithm is redesigned to be variable gain, the newly increased gain is used as output of a first-order system, an absolute value of a sliding mode function is increased in proportion, the function after amplitude limiting is used as an input signal of the first-order system, and the violent change degree of the input signal is smoothed by using the low-pass filtering characteristic. The newly increased gain has the following advantages that when the system state track is farthest from a sliding mode switching surface, the variable gain is increased to a maximum value, so that a controller accelerates the system state track to approach the sliding mode switching surface with the maximum force; and when the systemstate is in a quasi-sliding mode, the variable gain is attenuated to a minimum value, so that the controller fully inhibits the motion amplitude of the system state track by taking the sliding mode switching surface as the center so as to inhibit control input jitter of the system.

Description

technical field [0001] The invention relates to a superhelical sliding mode control method based on variable gain, which is mainly applied to the control of multi-axis systems such as mechanical arms, and belongs to the technical field of nonlinear control. Background technique [0002] The excellent robustness of sliding mode control makes it widely used in practice, such as the speed control of permanent magnet synchronous motors; the position tracking control of multi-axis manipulators; the attitude control of UAVs, etc. Generally, the design of the sliding mode controller can be divided into two stages, namely, the design of the sliding mode function and the design of the reaching rate. The sliding mode function mainly affects the dynamic performance of the system in the sliding mode stage, while the approach rate mainly affects the performance of the system in the sliding mode arrival stage. A system that is strictly in the sliding mode is very robust to external distu...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628
Inventor 邓华胡蓉张翼夏睿恒
Owner CENT SOUTH UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap