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检索条件"主题词=Sliding Mode Variable Structure Control"

共 81 条记录，以下是11-20 订阅

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sliding mode variable structure control of Mobile Manipulators

Sliding Mode Variable Structure Control of Mobile Manipulato...

引用

2008建模、辨识与控制国际会议

作者： Weimin Ge School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China Duofang Ye School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China

For the extreme nonlinear and strong coupling characteristics of mobile manipulators and based on the theory of sliding mode variable structure control, this paper proposes a control approach of mobile manipulators. The entire control system is composed of two parts, including the sliding mode trajectory tracking control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results show the effectiveness of the presented approach.

关键词： mobile manipulator sliding mode variable structure control trajectory tracking underactuated manipulator.

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sliding mode variable structure control Combining With Disturbance Observer for mobile Vehicle

Sliding Mode Variable Structure Control Combining With Distu...

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第三十八届中国控制会议

作者： Jianmei Wang Mengjie Li Yanyan Fan Jing Yan Xiaoyuan Luo School of Electrical Engineering Yanshan University School of Mechanical Engineering Yanshan University

In this paper, a sliding mode variable structure control strategy based on disturbance observer(DO) is developed for a mobile vehicle with second order dynamics. The system of the vehicle consists of nonlinear acceleration uncertainties. Firstly,the DO is proposed to estimate the disturbance in the system, and the estimation error of the disturbance converges fleetly in finite time. In addition, the bound of the disturbance is not required to be known. Secondly, an integral sliding mode variable structure control strategy combining with multiple power reaching laws is developed for the vehicle system. The proposed strategy improves the performance of the system, and alleviates the chattering problem effectively. The stability of the vehicle is achieved via Lyapunov stability theory. Finally, the numerical simulation results verify the validity and advantages of the proposed strategy in this paper.

关键词： Mobile vehicle sliding mode variable structure control Disturbance Observer(DO) Finite Time

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PWM rectifier research based on sliding mode variable structure control

PWM rectifier research based on sliding mode variable struct...

引用

23rd Chinese control and Decision Conference

作者： Fan, Wenchao Bao, Guangqing Lanzhou Univ Technol Coll Elect & Informat Engn Lanzhou 730050 Gansu Peoples R China Key Lab Gansu Adv Control Ind Proc Lanzhou 730050 Gansu Peoples R China

ISBN: (纸本)9781424487363

Proposed a three-phase voltage PWM rectifiers control plan based on the sliding mode variable structure control theory. After simulate confirmation we can see that the sliding mode variable structure control system has a good robustness and good dynamic performance. At the same time established the three-phase voltage PWM rectifiers control system based on PI algorithm. After simulate confirmation we can also know that its disturbance rejection performance is poor. After comparing the two plans, we can get the conclusion that the three-phase voltage PWM rectifiers control system based on sliding mode variable structure control theory is better than the system based on PI Algorithm.

关键词： PWM rectifier current inner loop PI control sliding mode variable structure control

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Research on simulation of sliding mode variable structure control for the separating-mirror servo system based on S-function

Research on simulation of sliding mode variable structure co...

引用

3rd IEEE Conference on Industrial Electronics and Applications (ICIEA 2008)

作者： Wu, Z. Y. Mei, X. R. Feng, R. P. Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China

ISBN: (纸本)9781424417186

For the separating-mirror servo system influenced by internal parameter changes and external non-linear friction, the sliding mode variable structure controller is designed. By exponential reaching law and saturation function combined method to reduce the chattering of the sliding mode variable structure controller. In simulink simulation, S-function is used to realize the controller, the controlled object and the non-linear friction model. The simulation results show that the sliding mode variable structure controller possess good robustness for internal parameter changes and external disturbances of the separating-mirror servo system compared with the conventional PID controller. The control precision of the separating-mirror servo system is improved. The application of S-function simplifies the simulink simulation modeling of the complex system and advances the simulation speed.

关键词： separating-mirror servo system sliding mode variable structure control S-function robustness

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Optimal sliding mode variable structure control for Load Simulator

Optimal Sliding Mode Variable Structure Control for Load Sim...

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2nd International Symposium on Systems and control in Aerospace and Astronautics

作者： Fan, Jinhua Zheng, Zhiqiang Lv, Ming Natl Univ Def Technol Coll Mechatron Engn & Automat Changsha Hunan Peoples R China

ISBN: (纸本)9781424439089

A new method of the optimal sliding mode variable structure control is presented to eliminate the extraneous torque in the load simulator. The mathematical model of the load simulator is enlarged by incorporating the torque reference input with integral action. By proper state transformation, the construction of the optimal sliding surface equals to the design of the feedback matrix in the linear quadratic problem. For smoothing tracking, the exponential approaching law is selected to accelerate the process of reaching the sliding surface. The stability of the load simulator is proved with the variable structure control law constructed. The simulation results indicate the effectiveness of the control method for the load simulator. The extraneous torque can be reduced greatly, and the load simulator can get high tracking performance.

关键词： load simulator extraneous torque sliding mode variable structure control

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Study on sliding mode variable structure control for Gyro Stabilized System

Study on Sliding Mode Variable Structure Control for Gyro St...

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8th World Congress on Intelligent control and Automation (WCICA)

作者： Xu, Dexin Gao, Yanbin Tan, Zhenfan Zeng, Jianhui Harbin Engn Univ Coll Automat Harbin 150001 Peoples R China

ISBN: (纸本)9781424467129

Since PID control does not meet the high accuracy requirement for gyro stabilized sighting system of airborne optoelectronic pod operated in the circumstance of strong interference, this paper introduces the application of sliding mode variable structure controller for the position loop of the stabilized system. After the sliding mode variable structure controller with exponential approach law is implemented, the stabilized sighting system exhibits higher performance than what done by PID controller. The position accuracy, swiftness, and robustness of the system are all improved.

关键词： sliding mode variable structure control PID control exponential approach law gyro stabilized system

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Research on APF Based on sliding mode variable structure control 6

Research on APF Based on Sliding Mode Variable Structure Con...

引用

6th IEEE Advanced Information Technology, Electronic and Automation control Conference (IEEE IAEAC)

作者： Gao, Yazhou Hang, Junfeng Yin, Yue Shi, Wenchao Xu, Weiting Wang, Haoliang State Grid Zhenjiang Power Supply Co Zhenjiang Jiangsu Peoples R China

ISBN: (数字)9781665458641

ISBN: (纸本)9781665458641

Active power filter (APF) is a new power electronic device used for compensation reactive power and dynamic harmonic suppression. The compensation effect of active power filter is determined by the output current control algorithm. sliding mode variable structure control is one of the common control strategies in modern industry. The main circuit of active power filter has the characteristic of variable structure, so sliding mode variable structure control is suitable. Simulation results show the efficiency compared to traditional PI control.

关键词： active power filter PI control sliding mode variable structure control simulation

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Uncertain Discrete sliding mode variable structure control Systems by Gray model Estimation Method 32

Uncertain Discrete Sliding Mode Variable Structure Control S...

引用

32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Ji, Zhixiang Liu, Yunlong Zhang, Caihong Zhang, Tiezhu Dai, Jiangyan Weifang Univ Coll Informat & Control Engn Weifang 261061 Peoples R China Qingdao Univ Coll Automat & Elect Engn Qingdao 266071 Peoples R China Shandong Univ Technol Headmasters Off Zibo Peoples R China

ISBN: (纸本)9781538629017

The design of sliding mode variable structure control (SMVSC) for discrete time systems with uncertainties is discussed by discrete reaching law in this paper. The reason of causing chattering is given and a discrete reaching law with border lay is developed. Gray model estimation is built for the uncertainty items and the values of parameters are obtained. The reaching time is reduced by the proposed method and it can drive the system to reach the switching belt in finite time and remain on the switching surface. The system will not be passed through the switching surface and the chattering is eliminated effectively.

关键词： Discrete system sliding mode variable structure control Border lay Chattering Gray model estimation

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Research on the Direct Torque control for Asynchronous Motor Based on the sliding mode variable structure control

Research on the Direct Torque Control for Asynchronous Motor...

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24th Chinese control and Decision Conference (CCDC)

作者： Wei Jianhong Li Xiaoqian Zheng Yan Northeastern Univ Sch Informat Sci & Engn Shenyang 110819 Peoples R China

ISBN: (纸本)9781457720727

Aimed at the problems of larger torque ripple and unconstant inverter switch frequency in the direct torque control for asynchronous motor this paper puts forward a control scheme which combined sliding mode variable structure theory with Space Vector PWM technology (SVPWM) to reduce torque ripple and keep switch frequency constant. The sliding mode variable structure controller is designed based on flux error and torque error, to make the torque and flux fast and accurate adjustment, controller outputs get inverter switch pulse signal by implementing SVPWM modulation which realized the constant frequency inverter switch. The simulation results showed the effectiveness of the proposed scheme.

关键词： Asynchronous motors sliding mode variable structure control Direct torque control Torque ripple Space vector PWM technology

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Research on Straight Line Stability control Strategy of Four Wheel Drive Vehicle Based on the sliding mode variable structure control and Optimization Algorithm

Research on Straight Line Stability Control Strategy of Four...

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Applied Energy Symposium and Summit - Low-Carbon Cities and Urban Energy Systems (CUE)

作者： Wang Zhifu Zhou Yang Li Chaopeng Fang Jun Collaborat Innovat Ctr Elect Vehicles Beijing Beijing 100081 Peoples R China United Automot Elect Syst Co Ltd Pudong New Area 555 Rongqiao St Shanghai 201206 Peoples R China

After the reference of straight line stability control strategy of four-wheel drive vehicle, this paper proposes a control algorithm combining the sliding mode variable structure and optimization control method. The control algorithm is mainly divided into the upper generalized moment calculation based on the sliding mode variable structure controller and the lower torque distribution controller based on the optimization algorithm, also including the slip rates controller based on PID algorithm to ensure the straight line stability control. This paper establishes the combined model based on the CarSim and MATLAB, and tests to verify the validation of the control strategy through the four-wheel drive vehicle test-bed based on RT_LAB. The simulation and experimental results show that when the tire-road friction coefficient is low, the control strategy can not only make the vehicle tire slip rates stay near the optimal slip ratio, at the same time through the yawing moment adjustment, ensure the yaw angle of vehicle not beyond 0.5 deg/s, so the method can effectively ensure the straight line stability of four wheel drive vehicle. (C) 2016 Published by Elsevier Ltd.

关键词： Four-Wheel Drive Vehicle sliding mode variable structure control Optimization Algorithm

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