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The Non-Singular Fast Terminal Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Based on Deep Flux Weakening Switching Point Tracking
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作者 Xiangfei Li Yang Yin +2 位作者 Yang Zhou Wenchang Liu Kaihui Zhao 《Energy Engineering》 EI 2023年第2期277-297,共21页
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag... This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation. 展开更多
关键词 Interior permanentmagnet synchronousmotor(IPMSM) flux weakening(FW)control non-singular fast terminal sliding mode control(NFTSMC) extended sliding mode disturbance observer(ESMDO)
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Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle 被引量:11
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作者 Chao Yang Feng Yao Ming-Jun Zhang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第6期228-243,共16页
The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic ... The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV. 展开更多
关键词 Autonomous underwater vehicle(AUV) Trajectory tracking Neural networks backstepping method terminal sliding mode Adaptive control
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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
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作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
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Fuzzy Fractional-Order Fast Terminal Sliding Mode Control for Some Chaotic Microcomponents 被引量:1
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作者 Jianxin Han Qichang Zhang +1 位作者 Wei Wang Jing Wang 《Transactions of Tianjin University》 EI CAS 2017年第3期289-294,共6页
In this paper, we propose a novel fractional-order fast terminal sliding mode control method, based on an integer-order scheme, to stabilize the chaotic motion of two typical microcomponents. We apply the fractional L... In this paper, we propose a novel fractional-order fast terminal sliding mode control method, based on an integer-order scheme, to stabilize the chaotic motion of two typical microcomponents. We apply the fractional Lyapunov stability theorem to analytically guarantee the asymptotic stability of a system characterized by uncertainties and external disturbances. To reduce chattering, we design a fuzzy logic algorithm to replace the traditional signum function in the switching law. Lastly, we perform numerical simulations with both the fractional-order and integer-order control laws. Results show that the proposed control law is effective in suppressing chaos. © 2017, Tianjin University and Springer-Verlag Berlin Heidelberg. 展开更多
关键词 Asymptotic stability Calculations Chaotic systems control theory Fuzzy logic Fuzzy sets Motion control
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Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties
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作者 Van-Truong Nguyen 《Computers, Materials & Continua》 SCIE EI 2023年第2期2771-2787,共17页
In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators... In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method. 展开更多
关键词 Parallel manipulator uncertainties and disturbances nonsingular fast terminal sliding mode control non-negative adaptive mechanism tracking differentiator
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Trajectory tracking and obstacle avoidance method for robots based on fast terminal sliding mode 被引量:4
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作者 CAO Zhi-bin YANG Wei +1 位作者 SHAO Xing-ling LIU Ning 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2020年第1期78-86,共9页
For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advant... For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory. 展开更多
关键词 trajectory tracking global fast terminal sliding mode adjustable convergence time chattering free artificial potential field method
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Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor 被引量:2
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作者 Rabii Fessi Hegazy Rezk Soufiene Bouallègue 《Computers, Materials & Continua》 SCIE EI 2021年第8期2265-2282,共18页
The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf O... The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities. 展开更多
关键词 QUADROTOR cascade control fast terminal sliding mode control grey wolf optimizer nonparametric Friedman analysis
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Robust backstepping global integral terminal sliding mode controller to enhance dynamic stability of hybrid AC/DC microgrids 被引量:2
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作者 Tushar Kanti Roy Subarto Kumar Ghosh Sajeeb Saha 《Protection and Control of Modern Power Systems》 SCIE EI 2023年第1期139-151,共13页
In this paper,a Backstepping Global Integral Terminal Sliding Mode Controller(BGITSMC)with the view to enhancing the dynamic stability of a hybrid AC/DC microgrid has been presented.The proposed approach controls the ... In this paper,a Backstepping Global Integral Terminal Sliding Mode Controller(BGITSMC)with the view to enhancing the dynamic stability of a hybrid AC/DC microgrid has been presented.The proposed approach controls the switch-ing signals of the inverter,interlinking the DC-bus with the AC-bus in an AC/DC microgrid for a seamless interface and regulation of the output power of renewable energy sources(Solar Photovoltaic unit,PMSG-based wind farm),and Battery Energy Storage System.The proposed control approach guarantees the dynamic stability of a hybrid AC/DC microgrid by regulating the associated states of the microgrid system to their intended values.The dynamic stabil-ity of the microgrid system with the proposed control law has been proved using the Control Lyapunov Function.A simulation analysis was performed on a test hybrid AC/DC microgrid system to demonstrate the performance of the proposed control strategy in terms of maintaining power balance while the system’s operating point changed.Furthermore,the superiority of the proposed approach has been demonstrated by comparing its performance with the existing Sliding Mode Control(SMC)approach for a hybrid AC/DC microgrid. 展开更多
关键词 Dynamic stability Hybrid AC/DC microgrids Power balance Robust backstepping controller global integral terminal sliding mode controller Switching control signals
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Dual sliding mode coordinated control of manipulator grasping system with visual assistance
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作者 Pengxin Zhang Haisheng Yu +3 位作者 Xiangxiang Meng Zhe Li Qing Yang Xunkai Gao 《Control Theory and Technology》 EI CSCD 2024年第1期106-121,共16页
The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and ... The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments. 展开更多
关键词 Automatic production Joint servo Visual servo Coordinated control Non-singular fast terminal sliding mode Integral sliding mode
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Adaptive backstepping-based NTSM control for unmatched uncertain nonlinear systems 被引量:2
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作者 Xuemei Zheng Peng Li +1 位作者 Haoyu Li Danmei Ding 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2015年第3期557-564,共8页
An adaptive backstepping-based non-singular termi- nal sliding mode (NTSM) control method is proposed for a class of uncertain nonlinear systems in the parameteric-strict feedback form. The adaptive control law is c... An adaptive backstepping-based non-singular termi- nal sliding mode (NTSM) control method is proposed for a class of uncertain nonlinear systems in the parameteric-strict feedback form. The adaptive control law is combined with the first n - 1 steps of the backstepping method to estimate the unknown pa- rameters of the system. In the nth step, an NTSM control strategy is utilized to drive the last state of the system to converge in a finite time. Furthermore, the derivate estimator is used to obtain the derivates of the states of the error system; the higher-order non-singular terminal sliding mode control (HONTSMC) law is de- signed to eliminate the chattering and make the system robust to both matched and unmatched uncertainties. Compared to the adaptive backstepping-based linear sliding mode control method (LSMC), the proposed method improves the convergence rate and the steady-state tracking accuracy of the system, and makes the control signal smoother. Finally, the compared simulation results are presented to validate the method. 展开更多
关键词 adaptive control backstepping terminal sliding mode higher-order sliding mode control robustness.
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A Bio-Inspired Global Finite Time Tracking Control of Four-Rotor Test Bench System 被引量:1
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作者 Rooh ul Amin Irum Inayat +2 位作者 Li Aijun Shahaboddin Shamshirband Timon Rabczuk 《Computers, Materials & Continua》 SCIE EI 2018年第12期365-388,共24页
A bio-inspired global finite time control using global fast-terminal sliding mode controller and radial basis function network is presented in this article,to address the attitude tracking control problem of the three... A bio-inspired global finite time control using global fast-terminal sliding mode controller and radial basis function network is presented in this article,to address the attitude tracking control problem of the three degree-of-freedom four-rotor hover system.The proposed controller provides convergence of system states in a predetermined finite time and estimates the unmodeled dynamics of the four-rotor system.Dynamic model of the four-rotor system is derived with Newton’s force equations.The unknown dynamics of four-rotor systems are estimated using Radial basis function.The bio-inspired global fast terminal sliding mode controller is proposed to provide chattering free finite time error convergence and to provide optimal tracking of the attitude angles while being subjected to unknown dynamics.The global stability proof of the designed controller is provided on the basis of Lyapunov stability theorem.The proposed controller is validated by(i)conducting an experiment through implementing it on the laboratory-based hover system,and(ii)through simulations.Performance of the proposed control scheme is also compared with classical and intelligent controllers.The performance comparison exhibits that the designed controller has quick transient response and improved chattering free steady state performance.The proposed bioinspired global fast terminal sliding mode controller offers improved estimation and better tracking performance than the traditional controllers.In addition,the proposed controller is computationally cost effective and can be implanted on multirotor unmanned air vehicles with limited computational processing capabilities. 展开更多
关键词 Bio-inspired global fast terminal sliding mode controller attitude tracking radial basis function network four-rotor hover system
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GFTSM-based Model Predictive Torque Control for PMSM Drive System With Single Phase Current Sensor 被引量:2
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作者 Qingfang Teng Yuxing Jin +2 位作者 Shuyuan Li Jianguo Zhu Youguang Guo 《自动化学报》 EI CSCD 北大核心 2017年第9期1644-1655,共12页
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基于PI建模和反步滑模控制的主动波浪补偿策略 被引量:1
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作者 张琴 张蒸忠 +2 位作者 洪逸帆 顾邦平 胡雄 《工程科学与技术》 EI CAS CSCD 北大核心 2024年第1期11-21,共11页
海上起重船受风、浪、涌影响会产生剧烈的船舶姿态变化,造成起重机和货物的位姿变化,对货物和人员存在安全隐患,波浪补偿平台的稳定性控制能有效减少复杂海况下船舶运动对海上作业安全性、稳定性和精准性的影响,对浮式起重船海上设备精... 海上起重船受风、浪、涌影响会产生剧烈的船舶姿态变化,造成起重机和货物的位姿变化,对货物和人员存在安全隐患,波浪补偿平台的稳定性控制能有效减少复杂海况下船舶运动对海上作业安全性、稳定性和精准性的影响,对浮式起重船海上设备精准装载作业极其重要。针对补偿平台的迟滞非线性导致的建模困难和控制不精确问题,本文提出基于PI(Prandtle–Ishlinskii)建模和反步滑模控制的主动波浪补偿策略。首先,通过实验得到补偿系统的迟滞效应曲线,分析系统迟滞环建立PI迟滞模型,并采用递推最小二乘法辨识模型的各个参数,从而求得系统模型。然后,基于李雅普诺夫(Lyapunov)稳定性设计反步控制补偿方法,并结合滑模控制规律加快初始控制速度。最后,将反步滑模法应用于补偿系统,采用MATLAB软件仿真在规则波和不规则波下的响应来验证算法和模型的正确性,并在工控机中用C#编写控制程序,驱动运动控制卡控制伺服电机带动电缸进行补偿运动,同时通过传感器采集系统运动的实时数据,并反馈给工控机形成闭环,以期验证补偿平台在补偿规则波和不规则波下的补偿效果。实验结果表明,所建立的斯图尔特(Stewart)浮式平台中,PI迟滞模型具有良好的精度,反步终端滑模控制算法在Stewart平台的实际控制中能够很好地补偿波浪运动,相比比例–积分–微分控制(PID)、反步法、强化学习等控制方法,反步终端滑模方法能快速较好跟踪期望位移,补偿精度达到0.9729。 展开更多
关键词 主动波浪补偿 PI迟滞模型 反步终端滑模控制 斯图尔特浮式平台
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基于改进非线性滑模控制的轮式机器人轨迹跟踪
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作者 杨光永 陈旭东 +1 位作者 徐天奇 蔡艳 《组合机床与自动化加工技术》 北大核心 2024年第9期67-70,75,共5页
针对轮式机器人的轨迹跟踪控制存在的问题,设计了一种改进非线性快速终端滑模控制器(improved nonlinear fast terminal sliding mode controller,INFTSMC)的控制方案。首先,通过对轮式机器人运动学的分析建立了轨迹跟踪误差模型;其次,... 针对轮式机器人的轨迹跟踪控制存在的问题,设计了一种改进非线性快速终端滑模控制器(improved nonlinear fast terminal sliding mode controller,INFTSMC)的控制方案。首先,通过对轮式机器人运动学的分析建立了轨迹跟踪误差模型;其次,在设计滑模控制器阶段,针对非线性快速终端滑模控制器存在奇异点,采用一种新的滑模面幂指数时变策略来设计非奇异终端滑模控制器,解决了非线性快速终端滑模控制器奇异问题,通过构造Lyapunov函数进行稳定性分析证明了该策略的稳定性,并且进行收敛时间分析给出系统从任意初始状态收敛至平衡点所需要的时间;然后,在新的滑模面幂指数时变策略的基础上设计了轮式机器人线速度和角速度控制律,使得轮式机器人轨迹跟踪误差快速收敛至0,实现了移动机器人对期望轨迹的快速跟踪。通过仿真实验与非线性快速终端滑模控制器和传统滑模控制其进行对比,验证了改进非线性快速终端滑模控制器的优越性。 展开更多
关键词 轮式机器人 轨迹跟踪 快速终端滑模控制 时变幂指数 非奇异滑模控制
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PMSM无模型超螺旋快速积分终端滑模控制
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作者 赵凯辉 谯梦洁 +3 位作者 吕玉映 游鑫 张昌凡 郑剑 《电子测量与仪器学报》 CSCD 北大核心 2024年第5期64-74,共11页
针对永磁同步电机运行过程中因模型不确定、参数摄动和外部扰动等因素的影响,从而导致驱动系统性能下降的问题,提出一种新型控制策略。首先,为减少对系统数学模型的依赖,构建了一个新的超局部模型,用于描述永磁同步电机的转速环。其次,... 针对永磁同步电机运行过程中因模型不确定、参数摄动和外部扰动等因素的影响,从而导致驱动系统性能下降的问题,提出一种新型控制策略。首先,为减少对系统数学模型的依赖,构建了一个新的超局部模型,用于描述永磁同步电机的转速环。其次,基于转速环的新型超局部模型,结合一种新型积分终端滑模面和改进超螺旋控制律来设计新型无模型超螺旋快速积分终端滑模控制器,实现了对转速的精确控制。再次,采用非奇异快速终端滑模面和双幂次趋近律设计改进扩展非奇异终端滑模扰动观测器,通过精确观测和前馈补偿未知扰动,有效地抑制参数摄动和外部扰动,增强了系统鲁棒性,提高系统的动态性能和稳态性能。最后,通过与传统控制方法的仿真和实验对比,证实所提算法转速抗超调能力提升为0.412 5%,转矩快速响应能力提升0.013 s。结果表明当存在未知扰动时,所提方法具有较强的鲁棒性和良好的抗干扰性。 展开更多
关键词 永磁同步电机 无模型超螺旋快速积分终端滑模控制器 扩展非奇异终端滑模扰动观测器
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基于干扰观测器与终端滑模的车辆纵向控制
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作者 黄益绍 庄迪 《江苏大学学报(自然科学版)》 CAS 北大核心 2024年第5期513-520,共8页
为了消除未知干扰和不确定性对车辆纵向控制的影响,设计了基于干扰观测器和终端滑模控制的分层式车辆纵向控制系统.利用干扰观测器对系统干扰进行实时观测,实现对系统的反馈补偿,降低滑模控制的切换增益,从而抑制滑模控制的抖振.利用Lya... 为了消除未知干扰和不确定性对车辆纵向控制的影响,设计了基于干扰观测器和终端滑模控制的分层式车辆纵向控制系统.利用干扰观测器对系统干扰进行实时观测,实现对系统的反馈补偿,降低滑模控制的切换增益,从而抑制滑模控制的抖振.利用Lyapunov函数证明了控制系统的稳定性,并通过Carsim/Simulink进行了联合仿真试验.结果表明:在两种仿真工况条件下,控制器对参考速度跟踪效果良好,速度误差最大仅为0.22 m/s,干扰观测器对系统干扰能够准确快速估计,估计误差仅为0.003 14,切换逻辑执行器发挥良好;与传统滑模控制相比,所设计的控制器稳定性更好,抑制了滑模控制的抖振,实现了对车辆纵向速度的稳定跟踪. 展开更多
关键词 车辆 纵向控制 干扰观测器 全局快速终端滑模控制 逆纵向动力学模型 PID控制
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非最小相位的单电感双输出Buck-Boost变换器的复合控制方法
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作者 皇金锋 李啸天 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2024年第6期1266-1274,1314,共10页
单电感双输出Buck-Boost (SIDO Buck-Boost)变换器在电感电流连续模式(CCM)下工作存在交叉影响以及非最小相位特性的问题.为了解决上述问题,提出基于储能函数的扩张状态观测器(ESO)的改进非奇异快速终端滑模(NFTSM)和自抗扰控制(ADRC)... 单电感双输出Buck-Boost (SIDO Buck-Boost)变换器在电感电流连续模式(CCM)下工作存在交叉影响以及非最小相位特性的问题.为了解决上述问题,提出基于储能函数的扩张状态观测器(ESO)的改进非奇异快速终端滑模(NFTSM)和自抗扰控制(ADRC)相结合的控制策略.设计主路控制器,对系统的传递函数进行拟合得到ADRC范式,利用该范式对主路进行解耦控制.设计支路控制器,采用改进型ESO对储能函数进行观测,并将观测值反馈补偿到非奇异快速终端滑模控制律中,达到支路解耦的效果.为了抑制滑模控制的抖振问题,对趋近律进行改进.利用Lyapunov理论证明系统稳定性.基于硬件在环(HIL)实验平台进行实验验证.结果表明,所提控制策略与PI控制策略以及基于ESO的滑模控制策略相比,在超调量和响应时间上具有较好的效果. 展开更多
关键词 单电感双输出 BUCK-BOOST变换器 非奇异快速终端滑模控制 自抗扰控制 改进滑模趋近律
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永磁同步电机非线性增益非奇异快速终端滑模控制
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作者 康尔良 于浩天 韩康玮 《电机与控制学报》 EI CSCD 北大核心 2024年第5期73-81,共9页
为了研究传统滑模控制中系统误差在有限时间内无法收敛至0以及传统滑模控制中系统抖振与收敛速度互不兼容的问题,提出一种非奇异快速终端滑模控制与扰动观测器结合的速度控制器。通过将参数可变的非线性函数作为增益代替固定增益加入滑... 为了研究传统滑模控制中系统误差在有限时间内无法收敛至0以及传统滑模控制中系统抖振与收敛速度互不兼容的问题,提出一种非奇异快速终端滑模控制与扰动观测器结合的速度控制器。通过将参数可变的非线性函数作为增益代替固定增益加入滑模控制策略中从而改善系统响应速度同时减小系统的抖振。针对转矩扰动对系统的影响,加入负载转矩扰动观测器并补偿到q轴电流中以进一步提高控制器抗负载扰动能力。根据李雅普诺夫稳定性理论对提出的新型滑模控制器进行稳定性证明,经过仿真和实验证明,电机在启动时响应快、无超调且抖振较小,在突加转矩时转速波动小且恢复时间迅速,证明了改进后的变增益非奇异终端滑模控制与传统非奇异快速终端滑模控制策略相比可以提高动态性能的同时抑制系统抖振、增强系统的鲁棒性。 展开更多
关键词 永磁同步电机 速度控制器 非奇异快速终端滑模 趋近率 扰动补偿
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故障检测与重构下基于AFTSMO的ROV三维航迹跟踪控制
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作者 唐军 钱明炎 +1 位作者 陈善颖 谢彬 《船海工程》 北大核心 2024年第4期87-93,共7页
针对传统的滑模观测器在缆控水下机器人(ROV)系统状态估计与故障重构过程中存在渐近收敛、无法及时准确重构故障信号的问题,提出一种基于自适应快速终端滑模观测器(adaptive fast terminal sliding mode observer)的故障检测和控制优化... 针对传统的滑模观测器在缆控水下机器人(ROV)系统状态估计与故障重构过程中存在渐近收敛、无法及时准确重构故障信号的问题,提出一种基于自适应快速终端滑模观测器(adaptive fast terminal sliding mode observer)的故障检测和控制优化方法。建立带有推进器故障、未知外界干扰和模型参数不确定性等复合干扰的ROV系统故障模型;设计具有自适应特性的快速终端滑模控制器,保证所有的状态估计误差在有限时间内收敛;通过等效输出误差注入法对推进器引起的故障进行估计重构。采用Lyapunov稳定性理论验证控制系统的稳定性,仿真结果表明,所设计的故障检测方法能够快速检测和重构故障,保证ROV系统较高的跟踪精度,并通过实验验证了所提算法的有效性。 展开更多
关键词 水下机器人 RBF神经网络 快速终端滑模面 有限时间控制 故障重构
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弱电网下基于超螺旋滑模的LCL并网逆变器控制研究
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作者 凌志勇 周志飞 +1 位作者 李圣清 文颜烯 《电工电气》 2024年第5期1-10,共10页
针对LCL型滤波器的固有谐振、滤波器参数及弱电网下电网阻抗的波动会严重破坏并网系统稳定性的问题,提出了弱电网下基于超螺旋滑模的LCL并网逆变器控制策略。根据并网系统模型构建超螺旋滑模观测器,对滤波电容电压及逆变器侧输出电流进... 针对LCL型滤波器的固有谐振、滤波器参数及弱电网下电网阻抗的波动会严重破坏并网系统稳定性的问题,提出了弱电网下基于超螺旋滑模的LCL并网逆变器控制策略。根据并网系统模型构建超螺旋滑模观测器,对滤波电容电压及逆变器侧输出电流进行估计,消除额外传感器需要,降低成本。采用具有非奇异快速终端滑模面控制(NFTSMC)的超螺旋滑模控制器来快速地跟踪参考给定电流及降低并网系统动稳态误差,且提高并网系统对外界干扰和参数不确定性的全局鲁棒性。仿真结果表明,当滤波参数摄动和电网阻抗变化时,系统表现出较强的鲁棒性,且并网电流的THD值保持在0.5%左右。 展开更多
关键词 超螺旋滑模控制 非奇异快速终端滑模面控制 超螺旋滑模观测器 参数摄动 阻抗变化
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