10 results about "Nonsingular terminal sliding mode control" patented technology

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

The application discloses a global fractional non-singular terminal sliding mode control method for a snake robot, and comprises the following steps: based on a dynamic model of an N-joint snake robot, a tracking error dynamic model of the N-joint snake robot is reconstructed; a time delay estimator is designed to observe external disturbance of uncertain items of the N-joint snake robot system in real time; according to a global terminal sliding mode surface, a fractional order characteristic and a non-singular characteristic, a global fractional non-singular terminal sliding mode surface is constructed by using output error of the N-joint snake robot system; and based on the global fractional non-singular terminal sliding mode surface and the time delay estimator, a global fractional non-singular terminal sliding mode controller of the N-joint snake robot system based on time delay is designed by combining a power approaching rate, so that high-precision tracking control is realized.

The invention discloses a finite time composite vibration suppression control method and system for same-frequency vibration of a magnetic bearing-rotor system. The finite time composite vibration suppression control method comprises the steps that a synchronous vibration component in rotor displacement is extracted through a same-frequency narrow-band tracking filter; performing phase lead correction by using an all-pass phase shifter, generating a feed-forward compensation force by combining an equivalent gain and electromagnetic linear model based on a feedback link, and offsetting a displacement stiffness force which causes vibration transmission from a physical source; a finite time same-frequency narrow-band extended state observer is constructed, and rapid and accurate finite time estimation is carried out on total disturbance including model mismatch; and designing a finite time nonsingular terminal sliding mode controller, fusing the feedforward compensation force and the disturbance estimation value, and generating a control law with a finite time convergence characteristic. According to the method, through cooperation of feed-forward compensation, finite time observation and finite time control, rapid convergence and high-robustness stabilization of same-frequency vibration and effective suppression of control buffeting under a dynamic working condition are realized.

The application provides a non-singular terminal sliding mode control parameter collaborative optimization method for a Buck converter, comprising the following steps: step 1, constructing a state space average model of the Buck converter with inductance current and capacitor voltage as state variables, and defining system tracking error state variables; step 2, filtering and preprocessing transient simulation output voltage of the Buck converter; step 3, constructing a dynamic multi-objective composite fitness function fusing a load step sensing penalty term; step 4, calculating information entropy of each index by using an entropy weight method; step 5, performing physical mechanism guided Bayesian optimization by using a domain specific kernel function; and step 6, performing closed loop iteration optimization of a particle swarm algorithm by using the dynamic multi-objective composite fitness function after parameter calibration. The application effectively decouples the contradiction between transient response and steady state accuracy, guarantees physical safety from the bottom of the algorithm, and significantly improves the control robustness of the converter under large disturbance.

The application discloses a control method of a high-speed maglev train overlapping suspension system, and relates to the technical field of suspension system control. The method comprises the following steps: decoupling the overlapping suspension system based on a constructed multi-degree-of-freedom coupled dynamics model, and constructing a target extended state observer for each single-point suspension subsystem after decoupling; the target extended state observer adopts a smooth nonlinear function as a nonlinear feedback item, and estimates the system state and total disturbance in real time according to the suspension gap error; based on the non-singular terminal sliding mode control theory, a sliding mode surface containing a nonlinear power term is designed, and a finite time control law is constructed according to the sliding mode surface, the estimated value of the total disturbance and a disturbance derivative compensation item, so as to generate a composite control voltage and apply the composite control voltage to both ends of an electromagnet to control the suspension gap. The method has strong robustness, fast response speed and good engineering realizability, and significantly improves the steady-state accuracy, dynamic stability and anti-interference ability of the maglev train under high-speed running conditions.

The application discloses a PMSM current loop adaptive non-singular terminal sliding mode control method based on parameter identification, which comprises the following steps: step 1, a current loop model of a PMSM in a d-q axis coordinate system is established based on actual control system motor parameter variation or disturbance, and a first-order differential of a q-axis stator current and a first-order differential of a d-axis stator current are obtained; step 2, an ANTSMC is constructed by defining a current loop error, the ANTSMC comprises an adaptive reaching law and a non-singular terminal sliding mode surface, derivatives of the two are obtained in parallel, and a q-axis output voltage and a d-axis output voltage are obtained, the current loop of a permanent magnet synchronous motor field vector control is controlled through the ANTSMC, and the system stability of the ANTSMC is proved through a Lyapunov stability criterion; and step 3, a parameter identifier based on an Adaline neural network is used to identify actual motor parameters of the current loop model of the PMSM and then applied to the ANTSMC.

The application discloses a fractional order non-singular terminal sliding mode control method and device, and collects output voltage and inductance current signals of a DC-DC converter; the collected output voltage and inductance current signals are converted into digital signals through an ADC module; a fractional order non-singular terminal sliding mode control module establishes a mathematical model of the converter system according to the digital signals of the output voltage and the inductance current; a nonlinear disturbance observer is designed according to the mathematical model, and disturbance estimation is carried out by using the nonlinear disturbance observer; a fractional order non-singular terminal sliding mode surface and a control law of the DC-DC converter system are designed, and whether the system is stable is judged according to Lyapunov stability theory; the duty cycle of a DC-DC converter switching driving signal is obtained by solving the control law of the DC-DC converter system, and a driving signal is output to control the on-off of a switching tube of the DC-DC converter. The application effectively alleviates the chattering problem of the sliding mode control output, and reduces the number of sensors required by the converter system.

The application discloses a control method of a permanent magnet synchronous motor based on a quasi-Z-source inverter, and belongs to the technical field of permanent magnet synchronous motor control. In order to solve the problem of insufficient response speed of a linear sliding mode control strategy in a variable bus control system of a permanent magnet synchronous motor, the application constructs a mathematical model of a quasi-Z-source inverter in a pass-through state and a mathematical model of the quasi-Z-source inverter in a non-pass-through state; a pass-through vector is introduced on the basis of a voltage vector synthesized by a four-vector SVPWM to obtain a new synthesized voltage vector, and the minimum value of a zero vector duty cycle in a cycle is calculated; a variable bus voltage control is performed on a direct current bus with the lowest direct current bus voltage requirement as a benchmark to obtain a variable bus voltage mathematical model; a variable bus control strategy based on a reduced-order fast non-singular terminal sliding mode is constructed to solve the pass-through duty cycle of the quasi-Z-source inverter; and the system state of the permanent magnet synchronous motor is analyzed based on a Lyapunov stable function to determine the stability of the reduced-order non-singular terminal sliding mode control strategy.

The application discloses a centering tracking control method and device based on FTESO and PNTSMC; the method comprises the following steps: a dynamic model of a centering platform is established, vertical displacement, pitch angle and roll angle of the centering platform are taken as generalized coordinates, and external disturbance and unmodeled dynamics are modeled as lumped disturbance; based on a finite time extended state observer, velocity states of the generalized coordinates and the lumped disturbance are estimated in real time; based on a pre-defined time nonsingular terminal sliding mode control strategy, a control law is designed; the control law controls driving force of a hydraulic cylinder based on disturbance estimation value provided by the finite time extended state observer, so that the centering platform can track an expected trajectory within a preset time. The application can realize fast, accurate and robust tracking of a pose of the centering platform, and allows a user to preset a convergence time, thereby significantly improving performance and reliability of an automatic centering process.