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6th International-Federation-of-Automatic-Control (IFAC) Conference on Bio-Robotics (BIOROBOTICS)

作者： Xue, Jinlin Dong, Shuxian Yan, Jia Nanjing Agr Univ Coll Engn Nanjing 210031 Jiangsu Peoples R China

It is difficult to establish the precise mathematical model of agricultural wheeled robots with differential drive for path tracking control, due to characteristics of nonlinear, strong coupling and multivariable. Here, path tracking control is studied for agricultural wheeled robot with differential drive based on sliding mode variable structure. Firstly, the motion model of agricultural wheeled robots with differential drive is established and control goal is determined for path tracking. Then, sliding mode variable structure is applied to design the controller. Finally, tracking simulations were conducted with circle and sine curves to verify the controller's performance, and further real tests were carried out on a circle with a radius of 7 m at a test field. The simulations show that the robot can asymptotically stabilize the given trajectory when there is external interference, and the real tests indicate a good tracking performance with a maximum tracking of 0.21 m. The effectiveness of sliding mode controller is verified for trajectory tracking control of agricultural wheeled robots with differential drive. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agricultural robots differential drive path following tracking control sliding mode variable structure

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Research on Multi-axis Servo Synergic Control System Based on sliding mode variable structure 45

Research on Multi-axis Servo Synergic Control System Based o...

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45th Annual Conference of the IEEE Industrial Electronics Society (IECON)

作者： He, Jing Ding, Jin Zhang, Changfan Mao, Songan Liu, Jianhua Hu, Jiaxi Ma, Zhenyu Hunan Univ Technol Coll Elect & Informat Engn Zhuzhou Peoples R China Purdue Univ Sch Elect & Comp Engn W Lafayette IN 47907 USA CRRC Zhuzhou Inst Co Ltd Technol Ctr Zhuzhou Peoples R China

ISBN: (纸本)9781728148786

This paper investigates a synchronous control method with variable proportion for multi-axis servo system based on sliding mode variable structure to solve the inherent shortcomings of parallel synchronous uncoupled control for multi-servo motors. The method is an improvement of the ring-coupled control strategy and is thus applicable to multi-axis proportional synchronous control. No-salient pole permanent magnet synchronous servo motors are taken as the controlled objects. A sliding mode controller is designed according to the state equation of the mathematical model. The rationality of the designed controller is proven by Lyapunov stability theory, and the method is compared with a parallel synchronous control strategy, which is widely used in the object of this research. Finally, the feasibility and superiority of the method in a multi-axis synchronous control system with variable proportion is confirmed by MATLAB simulation and experimental verification. The method is applied to a three- degree-of-freedom servo system, and makes the theoretical research have the corresponding practical engineering application value.

关键词： sliding mode variable structure ring-coupled control strategy multi-axis servo systems

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Ship Track-keeping Control Based on sliding mode variable structure PID Controller and Particle Swarm Optimization 6

Ship Track-keeping Control Based on Sliding Mode Variable St...

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6th International Conference on Information Science and Control Engineering (ICISCE)

作者： Li Liangqi Bu Renxiang Sun Wuchen Li Xinyu Dalian Maritime Univ Nav Coll Dalian Peoples R China

ISBN: (数字)9781728157122

ISBN: (纸本)9781728157122

In order to improve the performance of ship track-keeping autopilot, the ship motion control characteristics are analyzed briefly. A sliding mode variable structure PID control strategy based on particle swarm optimization is proposed. Taking the actual track and course on ground as the controlled object, the segmentation function is designed to modify the track deviation and limit the maximum and minimum. The traditional PID controller is deformed according to the sliding mode variable structure and the differential compensation is added to eliminate the integral overshoot caused by traditional PID control. The particle swarm optimization algorithm using inertia weight is used to optimize the controller parameters online. Finally, using the MATLAB simulation environment, the MMG model of the container ship "MV KOTA SEGAR" is taken as the control object, and the performance of the controller is verified. The verification results show that the controller effectively eliminates drift deviation caused by model uncertainty and wind-wave disturbance, and has the characteristics of high control precision and strong robustness.

关键词： ship track-keeping control sliding mode variable structure PID particle swarm optimization differential compensation

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The Nonlinear sliding mode variable structure Control of A Ship'S Speed under the Influence of the Navigation Environment 5

The Nonlinear Sliding Mode Variable Structure Control of A S...

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5th International Conference on Control, Automation and Robotics (ICCAR)

作者： Yuan, Hengdi Mao, Xiaobing Song, Kai Wuhan Univ Technol Sch Energy & Power Engn Wuhan Peoples R China

ISBN: (纸本)9781728133263

The stable control of a ship's speed is one of the most important factors when trying to improve the automation level and enhance the navigation safety of a ship. Since the ship's speed control is time-varying and nonlinear, and its dynamic characteristics are affected by environmental factors, it is difficult to obtain satisfactory control effects using traditional methods. In this paper, while establishing the nonlinear mathematical model of a ship's motion, environmental factors such as wind, waves, currents and system parameter uncertainties were considered. The model is a type of affine nonlinear system, and the sliding mode variable structure (SMVS) control method was selected to obtain the SMVS controller. Through a MATLAB simulation, the results showed that the SMVS control had the advantages of a small overshoot, fast response and strong anti-disturbance ability.

关键词： uncertainty affine nonlinear system sliding mode variable structure

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Study on sliding mode variable structure Control in Nonlinear Coupled Systems of Diesel Engines 2018

Study on Sliding Mode Variable Structure Control in Nonlinea...

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10th International Conference on Computer and Automation Engineering (ICCAE)

作者： Cai, Le Mao, Xiaobing Ma, Zhexuan Wuhan Univ Technol 1174 Heping Rd Wuhan Hubei Peoples R China

ISBN: (纸本)9781450364102

In order to improve the injection quality and the performance of engine common rail system, on the basis of the measured data in bench tests, quadratic polynomial fitting method is adopted to obtain the differential equations of pressure and speed system for high pressure common rail of diesel engine. This mathematical model belongs to multi-input nonlinear systems of mutually coupled pressure and speed of common rail diesel engine. First, the nonlinear state transformation is performed using flow computation, obtaining the standard state space equations of two decoupled single input. Then, sliding mode variable structure (SMVS) control theory is used to design two sliding mode controllers for single input nonlinear systems, in order to realize the control over the common rail pressure and diesel engine speed. MATLAB/ Simulink software simulation platform is then utilized to simulate the designed nonlinear high pressure common rail control system. Finally, the real time simulation of common rail pressure is conducted on a computer through prototype code conversion and Digital Signal Processor (DSP) embedding technology. Results show that the sliding mode variable structure control algorithm has satisfactory control performance over nonlinear systems, solving the problems of traditional Proportional Integral Differential (PID) control that the response is slow, the overshoot is large, and the robustness is weak.

关键词： Common rail Flow computation Multi-input nonlinear sliding mode variable structure

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Direct/aerodynamic force sliding mode variable structure compound control for terminal interceptor missile

Direct/aerodynamic force sliding mode variable structure com...

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2018国际防务技术大会（ICDT）

作者： Jian-qiang ZHENG Qing-hua MA Shu-jun YANG Shuai-wei WANG Xi'an Advanced Control Technologies Research Institute

The compound control system of the side direct force and aerodynamic force of the terminal interceptor missile is ***,a compound control model of direct force and aerodynamic force is ***,based on the sliding mode variable structure control theory,a direct force/aerodynamic compound control system is ***,the design of the compound control system is verified by the simulation *** control is able to make up for the lack of aerodynamic overload of missile terminal guidance,and improve the reaction time of the system.

关键词： Direct/aerodynamic force sliding mode variable structure Compound control

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Asynchronous motor direct torque control based on the sliding mode variable structure

Asynchronous motor direct torque control based on the slidin...

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International Conference on Electronics and Communication Systems (ICECS)

作者： Cheng, Pan Xiang, Feng-hong Wang, Jian-ping Zhang, Guo Mao, Jian-lin Kunming Univ Sci & Technol Sch Automat Kunming 650500 Yunnan Peoples R China

ISBN: (纸本)9781479923205

Aimed at the problems of larger torque ripple and non-constant inverter switch frequency in the direct torque control for asynchronous motor, this article puts forward a new idea. In same words, the idea is that the traditional PI controller is replaced by speed controller of sliding mode variable structure (SMVS). What's more, according to the mathematical models of induction motor in synchronous rotation coordinates and control theory of sliding mode variable structure, a new variable structure sliding mode controller based on torque and flux errors is proposed. Using the reference voltage vectors which are the outputs of the controller, the switching control signals of the inverter are generated by space vector PWM(SVPWM) technology. The simulation research verifies that the proposed control scheme reduces torque and flux ripple significantly, ensures the inverter switching frequency to be fixed, and it also has strong robustness to motor parameter and disturbance.

关键词： Asynchronous motor Speed controller sliding mode variable structure Direct torque control Space vector PWM

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Position Servo Control Technology Based on sliding mode variable structure for Permanent Magnet Linear Synchronous Motor

Position Servo Control Technology Based on Sliding Mode Vari...

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International Conference on Mechatronics Engineering and Computing Technology (ICMECT)

作者： Zheng Jigui Wu Hongxing Xu Ying Zheng Ping Harbin Inst Technol Elect Engn & Automat Harbin Peoples R China Beijing Res Inst Precise Mechatron Controls Beijing Peoples R China

ISBN: (纸本)9783038351153

The traditional rocket and missile actuator usually uses the hydromantic servo system or pneumatic servo system, because of their better dynamic characteristic and structural adaptability. While with heavy weight, complex structure and expensive cost, it is difficult to realize. The permanent magnet active current servo motor has many advantages, such as high torque, small inertia, high efficiency, the high ratio of power to inertia, cramped construction, firmness, easy maintaining and high reliability. The electrical servo system using the permanent magnet active current servo motor as the power unit satisfies the need of the tactical missile gas vane and air vane servo system, because the range of its transmitted power is wide, its response is quick, and control power is low. This paper analyzed the pole shoe's shape optimization characteristic against the interior permanent magnet synchronous motor for actuator, presents the design method and main process of permanent magnet synchronous motor for actuator using the field-circuit method. Optimal design can be acquired by the equivalent magnetic circuit method and the finite-element method conveniently and precisely. The analytical result of the prototype motor validated the feasibility of the optimization design.

关键词： synchronous motor sliding mode variable structure position servo

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sliding mode variable structure I/O FEEDBACK LINEARIZATION DESIGN FOR THE SPEED CONTROL OF PMSM WITH LOAD TORQUE OBSERVER

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL 2013年第8期9卷 3485-3496页

作者： Wang, Lipeng Zhang, Huaguang Liu, Xiuchong Northeastern Univ Dept Informat Sci & Technol 11Lane 3WenHua Rd Shenyang 110819 Liaoning Peoples R China

Based on the mathematical model of the permanent magnet synchronous motor (PMSM), a novel sliding mode variable structure input-output feedback linearization controller is proposed. A precision linearization method is employed to achieve input-output linearization and decoupling control of the motor, which is decoupled into a second-order linear speed subsystem and a first-order linear d-axis current subsystem. sliding mode variable structure is simple, and easy to combine with other intelligent methods, especially it has robustness to external disturbances. So the combination of sliding mode variable structure and feedback linearization could make the design method robust and quick dynamic. At the same time, an observer based on extended state observer is designed to evaluate the load torque of the system online. Theoretical analysis and matlab simulation results prove the effectiveness of the proposed method.

关键词： PMSM sliding mode variable structure Input-output feedback linearization Speed controller Load torque observer

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Torque Balance of Dual-motor Driven System Based on Equivalent Switching variable structure sliding mode Control 23

Torque Balance of Dual-motor Driven System Based on Equivale...

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23rd International Conference on Electrical Machines and Systems (ICEMS)

作者： Huang, Yuanfeng Wang, Haifeng Chinese Acad Sci Inst Elect Engn Beijing Peoples R China

ISBN: (纸本)9784886864192

Focus on the torque balance control of dual-motor driven system (DMDS), this paper proposes an equivalent switching variable structure sliding mode control (VSSMC) algorithm, which can improve the response speed and anti-interference performance of the system. Comparing with the traditional PI control algorithm, the equivalent switching VSSMC can eliminate the steady-state tracking error completely. Based on two control strategies proposed in the previous study, the simulation analysis of the two algorithms is carried out respectively by using MATLAB in this paper, and the effectiveness of equivalent switching VSSMC algorithm is further verified by the simulation results.

关键词： Dual-motor Torque Balance sliding mode variable structure Equivalent Switching VSSMC Algorithm

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