17 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 embodiment of the application discloses a kind of mechanical arm adaptive fractional order sliding mode control method, equipment and medium. Based on the position vector, velocity vector and acceleration vector of mechanical arm, the corresponding dynamics model of mechanical arm is established;Based on the actual trajectory and expected trajectory of mechanical arm, a tracking error dynamic equation is established;Based on the position error and error boundary corresponding to different joints of mechanical arm respectively, an error function is constructed to limit the trajectory tracking error corresponding to mechanical arm in the preset range based on the error function;According to the tracking error dynamic equation and error function, the corresponding fractional order non-singular terminal sliding mode surface of mechanical arm is obtained to construct adaptive fractional order non-singular terminal sliding mode control;According to the comprehensive disturbance data in the dynamics model corresponding to mechanical arm, a nonlinear disturbance observer is constructed to feed forward compensation based on the nonlinear disturbance observer on the dynamics model corresponding to mechanical arm, to realize the control of mechanical arm.

A forklift linear control drum brake control method and device based on a fast non-singular terminal sliding mode, the method comprising: 1) for the mechanical structure and dynamics characteristics of the forklift linear control drum brake system, mechanism analysis is carried out, and a dynamics model of the forklift linear control drum brake system is established; 2) according to the dynamics model established in step 1, a fast non-singular terminal sliding surface and a power approaching law are designed to realize the fast convergence of the system state; 3) according to the sliding surface and the approaching law designed in step 2, a fast non-singular terminal sliding mode control algorithm suitable for the forklift linear control drum brake system is designed; 4) based on Lyapunov stability theory, it is proved that the control algorithm designed in step 3 can make the system state converge to the equilibrium point in a finite time, and simulation is carried out on the MATLAB / Simulink platform to verify the effectiveness of the control algorithm in the forklift linear control drum brake system. The response speed and control accuracy of the forklift linear control drum brake system can be significantly improved.

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 invention discloses a permanent magnet servo motor model prediction control method, which belongs to the field of motor control, and comprises the following steps: generating a position error signal according to a position instruction and the actual position of a rotor; inputting the position error signal into a proportional integral controller to obtain a rotating speed reference signal; generating a rotating speed error signal according to the rotating speed reference signal and the rotor actual rotating speed; the rotating speed error signal is input into a nonsingular terminal sliding mode controller for operation processing, and a q-axis current reference value is obtained; a model prediction controller is constructed, a d-axis current reference value is set to be zero, and a value function is constructed; according to the current state signal of the motor, carrying out rolling optimization on all candidate voltage vectors by utilizing a model prediction controller, and determining the voltage vector which enables the value function to obtain the minimum value as the optimal voltage vector; and applying a switching signal corresponding to the optimal voltage vector to an inverter to drive the permanent magnet servo motor. According to the invention, rapid, accurate and stable control of the motor under external disturbance can be realized.

The application discloses a kind of based on improved fixed time power system chaos phenomenon hierarchical sliding mode control method, comprising the following steps: nine-stage power system model is analyzed using chaos analysis tool to model chaos phenomenon;The shortcoming of traditional fixed time sliding mode control is improved to avoid singularity problem, and fixed time nonsingular terminal sliding mode control is combined with adaptive technology, then hierarchical sliding mode is combined with fixed time nonsingular adaptive terminal sliding mode to reduce the number of designed controller, and hyperbolic approach law is added to reduce the chattering phenomenon existing in sliding mode control;Finally, to reduce control parameter search time, on the basis of constructing a new objective function, the improved ant lion algorithm is used to optimize the control parameters, and the research results have reference for controlling actual power system chaos phenomenon.

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 provides an adaptive fractional order non-singular terminal sliding mode control method based on time delay estimation, relates to the technical field of manipulator control, and establishes a dynamics model of joint and motor coupling; a non-singular terminal sliding mode surface containing fractional order differentiation and power transformation is designed, and then a reaching law with variable gain is constructed; then, unknown dynamics and disturbance of the system are compensated in real time by using historical control input and state information through time delay estimation technology; finally, the control law is generated by comprehensively synthesizing the sliding mode surface, the reaching law and the time delay estimation compensation term, high-precision and strong-robust control of the uncertain nonlinear system is realized, and the tracking precision and anti-interference ability of the manipulator in the uncertain environment are effectively improved.

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 invention discloses a control method for a lap joint suspension system of a high-speed maglev train, and relates to the technical field of suspension system control. The method comprises the following steps: decoupling a lap-joint suspension system based on a constructed multi-degree-of-freedom coupling dynamic model, and constructing a target expansion state observer for each decoupled single-point suspension subsystem; the target expansion state observer adopts a smooth nonlinear function as a nonlinear feedback item, and estimates the system state and the total disturbance in real time according to the suspension gap error; and based on a nonsingular terminal sliding mode control theory, designing a sliding mode surface containing a nonlinear power term, and constructing a finite time control law according to the sliding mode surface, an estimated value of total disturbance and a disturbance derivative compensation term to generate a composite control voltage and apply the composite control voltage to two ends of the electromagnet to control a suspension gap. The method has high robustness, high response speed and good engineering realizability, and the steady-state precision, the dynamic stability and the anti-interference capability of the maglev train under the high-speed operation condition are remarkably improved.

The invention discloses a permanent magnet synchronous motor control method based on a quasi-Z-source inverter, and belongs to the technical field of permanent magnet synchronous motor control. The problem that a linear sliding mode control strategy is insufficient in variable bus control response speed of a permanent magnet synchronous motor control system is solved. The method comprises the following steps: constructing a mathematical model of a quasi-Z-source inverter in a straight-through state and a mathematical model of the quasi-Z-source inverter in a non-straight-through state; introducing a straight-through vector on the basis of the voltage vector synthesized by the four-vector SVPWM to obtain a new synthesized voltage vector, and calculating the minimum value of the zero vector duty ratio in one period; performing variable bus voltage control on the direct-current bus by taking the lowest direct-current bus voltage requirement as a reference to obtain a variable bus voltage mathematical model; constructing a variable bus control strategy based on a reduced-order fast nonsingular terminal sliding mode, and solving a straight-through duty ratio of the quasi-Z-source inverter; and analyzing the systematic shape of the permanent magnet synchronous motor based on a Lyapunov stability function, and judging the stability of the reduced-order nonsingular terminal sliding mode control strategy.

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.