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Fuzzy adaptive backstepping sliding mode control for the hydraulic gap nonlinear system

Journal of Computational Information Systems 2013年第3期9卷 1113-1120页

作者： Wu, Zhongqiang Tang, Yachao Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

In this paper, a fuzzy adaptive backstepping sliding mode controller is presented for the hydraulic gap nonlinear system with uncertain parameters and load disturbances. Fuzzy adaptive systems are employed to approximate the uncertain parameters and load disturbances, which eliminates the impacts of uncertain parameters and load disturbances. According to the characteristics of the hydraulic gap nonlinear system, the appropriate Lyapunov functions are selected to reduce the steps of the backstepping design and an effective solution is given to the problem of the explosion of calculation of the backstepping design process of high-order systems. The sliding mode control method is introduced in the final step of backstepping design to further improve the robustness of the system. In the controller design, the adaptive laws of uncertain parameters are given and the convergence of the system tracking error is proved. The simulation results show that the controller can achieve fast, accurate and stable tracking of the specified location. Copyright © 2013 Binary Information Press.

关键词： Backstepping

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Rapid ILC with variable index gain for manipulator trajectory tracking

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Journal of Computational Information Systems 2013年第12期9卷 4739-4746页

作者： Wang, Hongrui Wang, Na Wang, Yueling Wang, Chao Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

A non-causal iterative learning control (ILC) with variable index gain is presented to solve the trajectory tracking problem of rigid robot manipulator with non-zero initial error. This scheme eliminates the restriction that the initial state must be fixed or be consistent with the desired state. Compared with fixed learning gain, ILC with variable index gain not only avoids choosing gain aimlessly but also significantly enhances the convergent speed. In this paper, the proposed non-causal algorithm uses error information of future time in previous iteration, then the controller can offset future disturbances in advance. From the perspective of execution, the proposed scheme is easy to implement. Moreover, we analyze the convergence of the new algorithm. Finally, applying the proposed algorithm in manipulator trajectory tracking system, we present simulation results to illustrate the effectiveness of the control scheme. © 2013 by Binary Information Press.

关键词： Iterative methods

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A fuzzy-PI hybrid controller based on a disturbance observer

A fuzzy-PI hybrid controller based on a disturbance observer

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International Conference on Natural Computation (ICNC)

作者： Manjun Cai Yue Wang Key lab of industrial computer control engineering in Hebei province Yanshan University Qinhuangdao China

This paper proposes a fuzzy PI hybrid speed controller for a PMSLM (Permanent Magnet Synchronous Linear Motor), which is based on a friction disturbance observer. It can improve the problems caused by the friction disturbance and the system parameters perturbation. Also the problem of the blind area for fuzzy control is eventually eliminated, because of the introduction of the PI control. Finally, through the simulation test and comparative analysis with the traditional PID control method, the validity and rationality of the control scheme is illustrated.

关键词： Observers Mathematical model Fuzzy control PD control Steady-state Equations Friction

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Multiple Relay Selection Scheme Based on Artificial Bee Colony Algorithm

Multiple Relay Selection Scheme Based on Artificial Bee Colo...

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International Conference on Instrumentation, Measurement, computer, Communication and control (IMCCC)

作者： Juan Wang Xinbin Li Kai Ma Key Lab of Industrial Computer Control Engineering Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781479913930

Relay selection (RS) and power control are two essential parts in cooperative cognitive relay network. RS is equal to power control in the condition that a relay cooperates with its full power or doesn't cooperate at all. So the optimal signal-to noise ratio (SNR) value is described as a 0-1 nonlinear programming integer problem (NLIP). In this paper, a multiple relay selection (MRS) scheme based on artificial bee colony algorithm (ABC) is proposed that can fully obtain optimal SNR value. Simulations show the performance of MRS scheme by ABC algorithm is better than that of exhaustive search, single RS scheme and other sub optimal MRS schemes.

关键词： Signal to noise ratio Cognitive radio Power control Relay networks (telecommunications)

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Global dynamic sliding mode control of PMSM speed servo systems base on extended state observer

Global dynamic sliding mode control of PMSM speed servo syst...

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Chinese control Conference (CCC)

作者： Yangyang Wu Yiming Fang Le Liu Yongchao Zhang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

Base on the the high performance requirements of permanent magnet synchronous motor(PMSM) speed servo system for non-sinusoidal oscillation control system of continuous casting mold, a global dynamic sliding mode(GDSM) control method is proposed, The reaching law of the sliding mode is designed by exponential fast terminal sliding mode(EFTSM) method and the controllers could effectively diminish chattering by designing the first derivative of control output which contains discontinuous function of sliding mode control; Considers the time variation of parameters perturbation and load disturbance of PMSM, a extended state observer (ESO) is constructed to observe the dynamic observation of total system perturbation and conduct feedforward compensation; theoretical analysis shows that the closed-loop system is global bounded stability; The simulated results show that the static and dynamic performance of the PMSM speed servo control system can be significantly improved by using the proposed method.

关键词： Electronic mail Sliding mode control Servomotors Observers Zirconium Digital control Educational institutions

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Tension control study in the finishing mill of aluminum hot rolling mills based on PSO+CMAC

Tension control study in the finishing mill of aluminum hot ...

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2013 3rd International Conference on Advanced Measurement and Test, AMT 2013

作者： Yang, Jing-Ming Chen, Li Wan-Hong, Wang Che, Hai-Jun Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China National Engineering Research Center for Equipment and Technology of C.S.R Yanshan University Qinhuangdao 066004 China Henan Mingtai Al. Industrial Co. Ltd of Gongyi Henan Province 451200 China

ISBN: (纸本)9783037857168

Aimed at decreasing the tension variation during transforming process of "1+4" aluminum hot rolling mills unit in one factory of Henan, we analyzed the factors affecting tension variation and improved the tension formula of hot rolling mills process considering the influence of tension on forward slip value. The tension forming process of hot rolling mills from stand 1 to stand 4 is simulated, and the tension structure diagrams of the four-stands are constructed. Due to nonlinear characteristics of the aluminum hot rolling mills tension system, conventional PID controller could not meet the requirement of the system. So we proposed the mixed control of Cerebellar Model Articulation controller (CMAC) coupled with PID to solve the problem of online parameters control and we used Particle Swarm Optimization (PSO) algorithm to optimize PID controller parameters. By simulation, it could be found that the using of PSO+CMAC significantly reduced surplus adjustment and transition time, and strip tension coupling degree among stands was also reduced. © (2013) Trans Tech Publications, Switzerland.

关键词： Aluminum

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Discrete-time sliding mode control for a class of stochastic system

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ICIC Express Letters 2013年第7期7卷 2087-2092页

作者： Chang, Ru Fang, Yiming Liu, Le Li, Jianxiong Key Lab of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University No. 438 Hebei Street Qinhuangdao 066004 China National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Hebei Street Qinhuangdao 066004 China

This paper is concerned with the discrete-time sliding mode control (SMC) problem for a class of stochastic system. A sufficient condition is presented to ensure the mean-square asymptotic stability of the stochastic system in the sliding mode by solving a linear objective function. Moreover, a power function is introduced to design a novel discrete sliding mode controller. The controller can guarantee the good dynamic quality of the stochastic system, and can ensure the reachability of the discrete-time sliding motion. Finally, a numerical example is given to illustrate the validity of the proposed SMC scheme. © 2013 ICIC International.

关键词： Stochastic systems

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Optimization of rolling schedules based on improved artificial fish swarm algorithm for aluminum strip hot rolling mills

Optimization of rolling schedules based on improved artifici...

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Chinese control Conference (CCC)

作者： Jing-ming Yang Shuang Xu Haijun Che Zhiwei Zhao National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Hebei Qinhuangdao 066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

The quality and yield of the products in the process of hot rolling is affected seriously by slipping phenomenon. In order to solve the phenomenon in aluminum hot rolling, on the basis of considering various factors which lead to slip, the concept of hot rolling slip factor is proposed, and a multi-objective function with equal power margin and preventing the slip phenomenon is established, and the improved artificial fish swarm algorithm is applied to optimize the reduction of first three stands. Adaptive step and improved move strategy are introduced into the proposed algorithm on the basis of basic fish swarm algorithm, which has better accuracy of optimization and faster convergence speed. The optimized schedule is applied to roll aluminum of 1050 in one hot rolling mill, and the performance is satisfied.

关键词： Marine animals Electronic mail Aluminum Optimization Schedules Strips Educational institutions

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The application of adaptive backstepping sliding mode for hybrid humanoid robot arm trajectory tracking control

The application of adaptive backstepping sliding mode for hy...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Li Qin Lihuan Liang Fucai Liu Zhenlin Jin Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University YSU Qin-Huangdao China Department of Mechanical Engineering Yanshan University YSU Qin-Huangdao China

This paper presents a methodology of the dynamic analysis and control for a novel hybrid humanoid robot arm. The hybrid humanoid robot arm under consideration consists of a spherical parallel manipulator (SPM) connecting two revolute pairs in series form. The dynamic model of the hybrid humanoid robot arm has been set up based on the lie group and lie algebra combining with the principle of virtual work which can avoid processing of constraint reaction and the division of logic open-chains, as well as a great quantity of differential operation. Aiming at the parameter uncertainties and disturbances, an adaptive backstepping sliding mode controller is developed. Compared with PD control in trajectory tracking simulation, the results show the advanced of the controller.

关键词： Process control Trajectory Actuators Complexity theory TV

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Adaptive backstepping control of hydraulic servo system with input saturation for rolling mill based on multi-model switching

Adaptive backstepping control of hydraulic servo system with...

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Chinese control Conference (CCC)

作者： Yehong Li Yiming Fang Jianxiong Li Shengli Shi Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Qinhuangdao Qinhuangdao China

For the problems of parameters change abruptly and input saturation of the rolling mill hydraulic servo systems, an adaptive backstepping control method based on multi-model switching is presented in this paper. Firstly, multiple models of the rolling mill hydraulic servo systems under different operating modes are established. Secondly, an auxiliary system is introduced to reduce the effects of input saturation, and the adaptive backstepping controllers are designed for all subsystem. With the help of common Lyapunov theory, the proposed method can guarantee stability of the multi-model switched system under arbitrary switching strategy. Finally, the simulation results demonstrate the effectiveness of the proposed control method.

关键词： Servomotors Switches Backstepping Adaptive systems Valves Actuators

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