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Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2020年第2期47卷 219-229页

作者： Li, Hong Jun Jiang, Wei Zou, Dehua Yan, Yu Zhang, An Chen, Wei Wuhan Text Univ Wuhan Peoples R China Hubei Prov Engn Res Ctr Ind Detonator Intelligent Wuhan Peoples R China Hubei Key Lab Digital Text Equipment Wuhan Wuhan Peoples R China Intelligent Live Working Technol & Equipment Robo Changsha Peoples R China State Grid Hunan Transmiss Maintenance Co Changsha Peoples R China State Grid Hunan Elect Power Co Maintenance Co Changsha Peoples R China

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation o

关键词： Trajectory tracking Electric power operation robot Robust motion control sliding mode variable structure control

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Improved adaptive backstepping sliding mode control for generator steam valves of non-linear power systems

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IET control THEORY AND APPLICATIONS 2017年第9期11卷 1414-1419页

作者： Su, Qingyu Quan, Wanzhen Cai, Guowei Li, Jian Northeast Elect Power Univ Jilin 132012 Jilin Peoples R China

The stability problem of steam valves in a single machine infinite bus system with thyristor controlled series compensation is addressed through the use of an improved adaptive backstepping method based on error compensation. The method combines sliding mode variable structure control, backstepping control and adaptive control. Initially, an excitation control input and error compensation are simultaneously obtained in the design of virtual control by adaptive backstepping and the Lyapunov method. The Lyapunov function is then constituted in stages to achieve subsystem stability, before obtaining a parameter updating law and a non-linear control law for the closed-loop system. The results for both systems show that the improved non-linear backstepping sliding mode variable structure control approach can have four benefits. It can ensure that the system states are bounded, retain the faster stability of power systems, improve the speed of parameter identification and achieve real-time parameter estimation. Finally, a simulation is presented to illustrate both the effectiveness and the feasibility of the improved control approach.

关键词： steam power stations power generation control adaptive control control nonlinearities variable structure systems nonlinear control systems Lyapunov methods power system stability closed loop systems control system synthesis error compensation thyristor applications electric generators improved adaptive backstepping sliding mode control generator steam valves nonlinear power systems stability problem single machine infinite bus system thyristor controlled series compensation error compensation sliding mode variable structure control excitation control input virtual control design Lyapunov function parameter updating law nonlinear control law closed-loop system improved nonlinear backstepping sliding mode variable structure control approach parameter identification speed real-time parameter estimation

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A New Load Torque Identification sliding mode Observer for Permanent Magnet Synchronous Machine Drive System

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2019年第8期34卷 7852-7862页

作者： Lu, Wenqi Zhang, Zhenyi Wang, Dong Lu, Kaiyuan Wu, Di Ji, Kehui Guo, Liang Zhejiang Sci Tech Univ Fac Mech Engn & Automat Hangzhou 310018 Zhejiang Peoples R China Aalborg Univ Dept Energy Technol DK-9220 Aalborg Denmark

Effective identification of the load torque is one of the key aspects in improving the performance of servo drive systems against load disturbances. sliding mode variable structure control has become a popular method in the development of a load torque identification (LTID) algorithm due to its parameter insensitivity and easy realization features. However, existing LTID sliding mode observers (SMO) with conventional structure have the disadvantages of high-frequency chattering and poor estimation accuracy, which limit its application in high-performance servo systems. In this paper, themathematicalmodel of the conventional LTID-SMO is deduced and analyzed. A new LTID-SMO is proposed by replacing the sign function with a saturation function and an additional feedback loop in the load torque observer. The effectiveness of the proposed observer is verified by various experiments. The results show that compared to conventional load torque observer, the proposed observer can identify the load torque with higher accuracy and faster response in different operational conditions.

关键词： Chattering load torque identification (LTID) robustness sliding mode observer (SMO) sliding mode variable structure control

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A Novel Cooperative control System of Multi-Missile Formation Under Uncontrollable Speed

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IEEE ACCESS 2021年 9卷 9753-9770页

作者： Zhang, Zhenlin Zhang, Ke Han, Zhiguo Northwestern Polytech Univ Sch Astronaut Xian 710072 Peoples R China

This article investigates a novel cooperative control system based on the sliding mode variable structure control theory for multi-missile formation flight. It is desired in practice to form and maintain the formation under the premise of uncontrollable missile speed. First, under the inertial coordinate system, we obtain the model of the formation control problem using the relative position of the leader to the follower. Then, we perform acceleration conversion and combine it to this model, getting the form of the formation problem model in the ballistic coordinate system. The finished model is useful for researchers to design the formation controller on this basis. Besides, the sliding mode variable structure control theory is used to design the formation controller for the system not considering disturbances and considering disturbances. Then we use the Lyapunov stability theory to analyze the stability of the formation control system. Finally, we compare our method with another method which requires controllable speed. According to numerical simulations, the method proposed in this article can achieve similar relative position errors under the condition of uncontrollable speed. And the robustness, versatility and formation adaptability of the method we propose are confirmed by simulation results.

关键词： Missiles control systems sliding mode control Uncertainty Mathematical model Acceleration control theory Multi-missile formation uncontrollable speed sliding mode variable structure control a leader-follower strategy

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control of Mutual Dragging Test for Motorized Spindle Based on Improved Direct Torque control 12

Control of Mutual Dragging Test for Motorized Spindle Based ...

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12th International Conference on Reliability, Maintainability, and Safety (ICRMS)

作者： Tian, Hailong Yang, Zhaojun Chen, Lei Chen, Chuanhai Guo, Jinyan Ying, Jun Zhao, Hongxun Jilin Univ Sch Mech Sci & Engn Changchun Jilin Peoples R China

ISBN: (纸本)9781538670767

Motorized spindle is widely used as the core functional part of CNC machine tools. In order to detect failures and correct in time before the products are released, shorten the reliability test cycle and reduce test cost, the development of reliability test system for motorized spindle has become one of the key technologies. The control method of spindle is crucial for the reliability test system and the commonly method is direct torque control. But the traditional direct torque control will cause large torque pulsation due to the application of the hysteresis controller. Aiming at this problem, this paper takes the motorized spindle mutual dragging test system as the control object and uses sliding mode variable structure control to improve the direct torque control. According to the principles of direct torque control and sliding mode variable structure control, the control equation of the improved method is established based on the switching functions of torque and flux. The control method is simulated under specific conditions in Matlab/Simulink. The simulation results show that compared with the traditional direct torque control method, the improved method can make the spindle reach the predetermined working state faster, make fluctuations of the flux linkage and torque smaller and make the control more accurate. The improved method is verified effective to control the motorized spindle.

关键词： motorized spindle mutual dragging test direct torque control sliding mode variable structure control

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Research on sliding mode control Strategy of Demotion Robot's Working Equipment By Means of ADAMS and Simulink 4

Research on Sliding Mode Control Strategy of Demotion Robot'...

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4th International Conference on Information Science and control Engineering (ICISCE)

作者： Zhang Jian-peng Cen Yu-wan Huang Jian-zhong Ye Xiao-hua Anhui Univ Technol Sch Mech Engn Maanshan 243002 Anhui Peoples R China Natl Machine Qual Supervis & Inspect Ctr MAANSHAN Maanshan 243002 Anhui Peoples R China

ISBN: (纸本)9781538630136

Based on the working principle of the electrohydraulic proportional control system of the working device of the demolition robot, the co-simulation model of the system is established by means of ADAMS and MATLAB. The study of the dynamic characteristics of the system was done, with applying traditional PID control strategy and sliding mode variable structure control respectively, considering the change of the control object parameters caused by the pose change of the working device and the external disturbances. The co-simulation results show that the sliding mode variable structure control strategy has excellent dynamic performance, better robustness and faster response compared with traditional PID.

关键词： demolition robot electro-hydraulic proportional control system co-simulation sliding mode variable structure control

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Study on Multi-path Planning and Tracking control of the UCAV Based on Evolutionary Algorithm 15

Study on Multi-path Planning and Tracking Control of the UCA...

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15th International Conference on control, Automation and Systems (ICCAS)

作者： Huang, Hanqiao Zhou, Huan Cai, Yawei Air Force Engn Univ Aeronaut & Astronaut Engn Coll Xian 710038 Peoples R China

ISBN: (纸本)9788993215090

Aiming at studying the multi-path planning and tracking control of the unmanned combat aerial vehicle(UCAV) in multi-constraints condition. In this paper, the mathematic model of the UCAV is built, then, the chromosome representation of path nodes and fitness function are proposed based on evolutionary algorithm. According to different operational requirements, the multi-path planning algorithm is put forward. Secondly, the paths are smoothened to get the attitude solved. Finally, the tracking of the trajectory attitude and velocity are realized with dynamics model of the UCAV by sliding mode variable structure control method. Simulation results demonstrate that the multi-path planned under the dynamic operational environment can meet different requirements, and the tracking controller has good accuracy and robustness.

关键词： unmanned combat aerial vehicle(UCAV) multiple path planning evolutionary algorithm sliding mode variable structure control

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Suppression of Parameter Perturbation in Active Power Filter Based on sliding mode control

Suppression of Parameter Perturbation in Active Power Filter...

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第三十二届中国控制会议

作者： LIU Guohai SUN Jingjing CHEN Zhaoling QIAN Peng LIAO Zhiling College of Electrical and Information Engineering Jiangsu University

ISBN: (纸本)9781479900305

In order to avoid deviding the system model of the shunt active power filter which is developed in the synchronous dq reference frame into two separate loops,an unified control strategy used for harmonic current tracking and dc link voltage stability of the shunt active power filter is presented and realized by the sliding mode variable structnre *** analyzing the stability of the Lyapunov function,the robustness of the shunt active power filter is derived and the stability condition of sliding mode is *** method characterizes suppression to parameter ***,the simulation results show that the presented method is simple to be designed,easy to be realized,and exhibits strong robustness and good dynamic characteristics.

关键词： Shunt Active Power Filter sliding mode variable structure control Parameter Perturbation

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Study of Nonlinear control Strategy on VAV Terminal Unit

Study of Nonlinear Control Strategy on VAV Terminal Unit

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9th World Congress on Intelligent control and Automation (WCICA)

作者： Wang, Yahui Zhang, Tong Huo, Yifeng Beijing Univ Civil Engn & Architecture Sch Elect & Informat Engn Beijing 100044 Peoples R China Beijing Bldg Qual Monitoring Stn Beijing 100044 Peoples R China

ISBN: (纸本)9781612847009

In this paper, the simulation control experiments on the VAV terminal unit are studied. First of all, the sliding mode variable structure control (SMVSC) algorithm based on nonlinear exact linearization for single-input single-output nonlinear systems is proposed. Then the model of air-damper and air-conditioning room is identified, and the comparative simulation control experiments between SMVSC algorithm based on nonlinear exact linearization and PID control algorithm on the VAV terminal unit are compared. The results show that the control results are better than the PID control in system overshoot, system response time and tracking effect;the control level achieves the intended purpose.

关键词： Nonlinear Exact Linearization sliding mode variable structure control VAV Terminal Unit Simulation control Experiments

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Networked control based on sliding mode for a class of state-delayed system

Networked control based on sliding mode for a class of state...

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6th World Congress on Intelligent control and Automation

作者： Xu, Jinxue Wang, Lu Li, Yuan Shenyang Univ Technol Sch Informat Sci & Engn Shenyang 110023 Peoples R China Shenyang Inst Chem Technol Sch Informat Engn Shenyang 110142 Peoples R China

ISBN: (纸本)1424403316

In the light of the commonly existing time delay in the networked control system, the design method of sliding mode controller for overcoming the influence of the state delay is proposed, which has the advantage of invariability for system in the presence of parameter variations, uncertainties and disturbances, and guarantees closed-loop system stability and robustness. When the system is in the sliding mode, the dynamic equations of the closed-loop system can be reduced to a linear form and its eigenvalues can be arbitrarily assigned. The stability of the whole system is proven by utilizing the linear matrix inequalities (LMI). The simulation results show that this method is effective and feasible.

关键词： networked control system time delay sliding mode variable structure control sliding mode compensator

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