Fixed time integral sliding mode controller and its application to the suppression of chaotic oscillation in power system

Chattering phenomenon and singularity are still the main problems that hinder the practical application of sliding mode control. In this paper, a fixed time integral sliding mode controller is designed based on fixed time stability theory, which ensures precise convergence of the state variables of controlled system, and overcomes the drawback of convergence time growing unboundedly as the initial value increases in finite time controller. It makes the controlled system converge to the control objective within a fixed time bounded by a constant as the initial value grows, and convergence time can be changed by adjusting parameters of controllers properly. Compared with other fixed time controllers, the fixed time integral sliding mode controller proposed in this paper achieves chattering-free control, and integral expression is used to avoid singularity generated by derivation. Finally, the controller is used to stabilize four-order chaotic power system. The results demonstrate that the controller realizes the non-singular chattering-free control of chaotic oscillation in the power system and guarantees the fixed time convergence of state variables, which shows its higher superiority than other finite time controllers.

Nonplanar post-buckling analysis of simply supported pipes conveying fluid with an axially sliding downstream end

In this study,the nonplanar post-buckling behavior of a simply supported fluid-conveying pipe with an axially sliding downstream end is investigated within the framework of a three-dimensional(3 D)theoretical model.The complete nonlinear governing equations are discretized via Galerkin’s method and then numerically solved by the use of a fourth-order Runge-Kutta integration algorithm.Different initial conditions are chosen for calculations to show the nonplanar buckling characteristics of the pipe in two perpendicular lateral directions.A detailed parametric analysis is performed in order to study the influence of several key system parameters such as the mass ratio,the flow velocity,and the gravity parameter on the post-buckling behavior of the pipe.Typical results are presented in the form of bifurcation diagrams when the flow velocity is selected as the variable parameter.It is found that the pipe will stay at its original straight equilibrium position until the critical flow velocity is reached.Just beyond the critical flow velocity,the pipe would lose stability by static divergence via a pitchfork bifurcation,and two possible nonzero equilibrium positions are generated.It is shown that the buckling and post-buckling behaviors of the pipe cannot be influenced by the mass ratio parameter.Unlike a pipe with two immovable ends,however,the pinned-pinned pipe with an axially sliding downstream end shows some different features regarding post-buckling behaviors.The most important feature is that the buckling amplitude of the pipe with an axially sliding downstream end would increase first and then decrease with the increase in the flow velocity.In addition,the buckled shapes of the pipe varying with the flow velocity are displayed in order to further show the new post-buckling features of the pipe with an axially sliding downstream end.

Microstructural evolution and deformation mechanisms of superplastic aluminium alloys:A review

Aluminium alloy is one of the earliest and most widely used superplastic materials.The objective of this work is to review the scientific advances in superplastic Al alloys.Particularly,the emphasis is placed on the microstructural evolution and deformation mechanisms of Al alloys during superplastic deformation.The evolution of grain structure,texture,secondary phase,and cavities during superplastic flow in typical superplastic Al alloys is discussed in detail.The quantitative evaluation of different deformation mechanisms based on the focus ion beam(FIB)-assisted surface study provides new insights into the superplasticity of Al alloys.The main features,such as grain boundary sliding,intragranular dislocation slip,and diffusion creep can be observed intuitively and analyzed quantitatively.This study provides some reference for the research of superplastic deformation mechanism and the development of superplastic Al alloys.

Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots

In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.

Decoupling Adaptive Sliding Mode Observer Design for Wind Turbines Subject to Simultaneous Faults in Sensors and Actuators

This paper proposes an adaptive sliding mode observer(ASMO)-based approach for wind turbines subject to simultaneous faults in sensors and actuators.The proposed approach enables the simultaneous detection of actuator and sensor faults without the need for any redundant hardware components.Additionally,wind speed variations are considered as unknown disturbances,thus eliminating the need for accurate measurement or estimation.The proposed ASMO enables the accurate estimation and reconstruction of the descriptor states and disturbances.The proposed design implements the principle of separation to enable the use of the nominal controller during faulty conditions.Fault tolerance is achieved by implementing a signal correction scheme to recover the nominal behavior.The performance of the proposed approach is validated using a 4.8 MW wind turbine benchmark model subject to various faults.Monte-Carlo analysis is also carried out to further evaluate the reliability and robustness of the proposed approach in the presence of measurement errors.Simplicity,ease of implementation and the decoupling property are among the positive features of the proposed approach.

Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

Nuclear power plants exhibit non-linear and time-variable dynamics.Therefore,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWR)is a fourth-generation conceptual reactor.In an SCWR,the non-linear dynamics of the reactor require a controller capable of control-ling the nonlinearities.In this study,a pressure-tube-type SCWR was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled simultaneously.In an SCWR,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power maneuvering.Reactor point kinetics equations with three groups of delayed neutrons were used in the simulation.Higher-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous studies.The controlled parameters were reactor power,steam temperature,and pressure.Notably,for these parameters,the PI controller had certain instabilities in the presence of disturbances.The classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering phenomenon.HOSMC was highly accurate and stable and had a small computational cost.In reality,it followed the desired values without oscillations and chattering.

Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

Anti-Dead-Zone Integral Sliding Control and Active Vibration Suppression of a Free-floating Space Robot with Elastic Base and Flexible Links

Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.

Path planning based on sliding window and variant A* algorithm for quadruped robot

In order to improve the adaptability of the quadruped robot in complex environments,a path planning method based on sliding window and variant A* algorithm for quadruped robot is presented. To improve the path planning efficiency and robot security,an incremental A* search algorithm( IA*) and the A* algorithm having obstacle grids extending( EA*) are proposed respectively. The IA* algorithm firstly searches an optimal path based on A* algorithm,then a new route from the current path to the new goal projection is added to generate a suboptimum route incrementally. In comparison with traditional method solving path planning problem from scratch,the IA* enables the robot to plan path more efficiently. EA* extends the obstacle by means of increasing grid g-value,which makes the route far away from the obstacle and avoids blocking the narrow passage. To navigate the robot running smoothly,a quadratic B-spline interpolation is applied to smooth the path.Simulation results illustrate that the IA* algorithm can increase the re-planning efficiency more than 5 times and demonstrate the effectiveness of the EA* algorithm.

Coupled effects of particle overall regularity and sliding friction on the shear behavior of uniformly graded dense sands

Particle morphology has been regarded as an important factor affecting shear behaviors of sands,and covers three important aspects,i.e.global form(overall shape),local roundness(large-scale smoothness),and surface texture(roughness)in terms of different observation scales.Shape features of different aspects can be independent of each other but might have coupled effects on the bulk behavior of sands,which has been not explored thoroughly yet.This paper presents a systematic investigation of the coupled effects of the particle overall regularity(OR)and sliding friction on the shear behavior of dense sands using three-dimensional(3D)discrete element method(DEM).The representative volume elements consisting of ideal spheres and irregular clumps of different mass proportions are prepared to conduct drained triaxial compression simulations.A well-defined shape descriptor named OR is adopted to quantify particle shape differences of numerical samples at both form and roundness aspects,and the particle sliding friction coefficient varies from 0.001 to 1 to consider the surface roughness effect equivalently in DEM.The stress-strain relationships as well as peak and critical friction angles of these assemblies are examined systematically.Moreover,contact network and anisotropic fabric characteristics within different granular assemblies are analyzed to explore the microscopic origins of the multi-scale shape-dependent shear strength.This study helps to improve the current understanding with respect to the influence of the particle shape on the shear behavior of sands from different shape aspects.

Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot slidingand reduce impingement

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this paper.First,the foot trajectory is designated as the improved composite cycloid foot trajectory.Second,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the robot.Then with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this paper.Finally,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are conducted.The validity of the proposed algorithm is confirmed through the co-simulation and experimentation.The results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.

Enhanced Fuzzy Logic Control Model and Sliding Mode Based on Field Oriented Control of Induction Motor

In the context of induction motor control, there are various control strategies used to separately control torque and flux. One common approach is known as Field-Oriented Control (FOC). This technique involves transforming the three-phase currents and voltages into a rotating reference frame, commonly referred to as the “dq” frame. In this frame, the torque/speed and flux components are decoupled, allowing for independent control, by doing so, the motor’s speed can be regulated accurately and maintain a constant flux which is crucial to ensure optimal motor performance and efficiency. The research focused on studying and simulating a field-oriented control system using fuzzy control techniques for an induction motor. The aim was to address the issue of parameter variations, particularly the change in rotor resistance during motor operation, which causes the control system to deviate from the desired direction. This deviation implies to an increase in the magnetic flux value, specifically the flux component on the q-axis. By employing fuzzy logic techniques to regulate flux vector’s components in the dq frame, this problem was successfully resolved, ensuring that the magnetic flux value remains within the nominal limits. To enhance the control system’s performance, response speed, and efficiency of the motor, sliding mode controllers were implemented to regulate the current in the inner loop. The simulation results demonstrated the proficiency of the proposed methodology.

Electrical and aerodynamic characteristics of sliding discharge based on a microsecond pulsed plasma supply

Plasma flow control technology has broad prospects for application.Compared with conventional dielectric barrier discharge plasma actuators(DBD-PA),the sliding discharge plasma actuator(SD-PA)has the advantages of a large discharge area and a deflectable induced jet.To achieve the basic performance requirements of light weight,low cost,and high reliability required for UAV(Unmanned Aerial Vehicle)plasma flight experiments,this work designed a microsecond pulse plasma supply that can be used for sliding discharge plasma actuators.In this study,the topology of the primary circuit of the microsecond pulse supply is determined,the waveform of the output terminal of the microsecond pulse plasma supply is detected using the Simulink simulation platform,and the design of the actuation voltage,the pulse frequency modulation function and the construction of the hardware circuit are achieved.Using electrical diagnosis and flow field analysis,the actuation characteristics and flow characteristics of sliding discharge plasma under microsecond pulse actuation are studied,the optimal electrical actuation parameters and flow field characteristics are described.

Wear behavior of high strength and high conductivity Cu alloys under dry sliding

In order to study the wear behavior of different kinds of contact wires,the dry sliding wear behaviors of Cu-Sn,Cu-Ag and Cu-Mg alloys prepared by up-drawn continuous casting and followed continuous extrusion were studied.The research was tested on a block-on-ring wear tester.The results indicate that the friction coefficient is remarkably influenced by the formation of a continuous tribofilm,which consists of oxidation film.The abrasion,adhesion,oxidation and plastic deformation are observed.Oxidation and abrasion wear mechanisms dominate at the lower sliding velocity and load.The combination of oxidation and adhesion play leading roles with the increasing load and velocity.Plastic deformation is detected under higher applied load and sliding velocities.

Effect of individual and combined additions of Al-5Ti-B,Mn and Sn on sliding wear behavior of A356 alloy

The effect of grain refiner, Mn and Sn additions on the sliding wear behavior of A356 aluminum alloys was investigated. The microstructure and worn surfaces of the studied alloys were characterized by optical microscopy（OM）, scanning electron microscopy（SEM）, and transmission electron microscopy（TEM）. The experimental results indicate that the alloy refined by Al-5Ti-B alloy exhibits equiaxed α（Al） dendrites and performs better wear resistance compared with the alloy without the grain refiner. Moreover, the addition of Mn can change the β-Al5 Fe Si phase to α-Al（Mn,Fe）Si phase and reduce the possibility of crack formation, thus improving the wear resistance. Sn added to A356 aluminum alloy forms Mg2 Sn precipitates after heat treatment. Therefore, the unrealizable precipitation hardening Mg2 Si phase and the softening β-Sn phase can reduce the hardness of the alloy, and finally reduce the wear resistance.

Dry sliding friction and wear behaviors of Mg_2B_2O_5 whisker reinforced 6061Al matrix composites

The friction and wear properties of Mg2B2O5 whisker reinforced 6061Al matrix composite fabricated via power ultrasonic-stir casting process were investigated using a ball-on-disk wear-testing machine against a GCr45 steel counterface under dry sliding conditions. The reinforcements include as-received Mg2B2O5 whiskers and Mg2B2O5 whiskers coated with CuO and ZnO. The volume fraction of the composites is 2%. The relationship between the wear rate and the coefficient of friction was discussed. The results indicate that the wear rate of the Mg2B2O5 whiskers coated with ZnO reinforced aluminum matrix composites is the lowest among the materials. As the applied load and sliding speed steadily increase the coefficients of friction and wear rates of the as-received matrix alloy and the fabricated composites decrease. As the applied load and sliding speed increase, the wear mechanisms of the composites shift from a mild to a severe regime.

Dry sliding wear behavior and mechanism of AM60B alloy at 25-200 ℃

Dry wear tests under atmospheric conditions at 25-200 °C and loads of 12.5-300 N were performed for AM60B alloy. The wear rate increases with increasing the load; the mild-to-severe wear transitions occur under the loads of 275 N at 25 °C, 150 N at 100 °C and 75 N at 200 °C, respectively. However, as the load is less than 50 N, the wear rate at 200 °C is lower than that at 25 °C or 100 °C. In mild wear regimes, the wear mechanisms can be classified into abrasive wear, oxidation wear and delamination wear. Delamination wear prevailed as the mild-to-severe wear transition starts to occur; the delamination occurs from the inside of matrix. Subsequently, plastic-extrusion wear as severe wear prevails accompanied with the transition. The thick and hard tribo-layer postpones the mild-to-severe wear transition due to restricting the occurrence of massive plastic deformation of worn surfaces.

Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

FUZZY GLOBAL SLIDING MODE CONTROL BASED ON GENETIC ALGORITHM AND ITS APPLICATION FOR FLIGHT SIMULATOR SERVO SYSTEM

To alleviate the chattering problem, a new type of fuzzy global sliding mode controller （FGSMC） is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller（SMC）, and genetic algorithm （GA） is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.

Influence of Dimensions of UHMW-PE Protuberances on Sliding Resistance and Normal Adhesion of Bangkok Clay Soil to Biomimetic Plates

A number of investigations into application of polymers for macro-morphological modification of tool surface have been carried out. These researches, with extensive stress on convex or domed protuberations as one of the widely used construction units, have tried to harness benefits from using polymers in agriculture. Ultra high molecular weight polyethylene （UHMW-PE） has proved an emerging polymer in its application to reduce soil adhesion. This research was conducted to study the effect of shape （flat, semi-spherical, semi-oblate, semi short-prolate and semi long-prolate） and dimensions （base diameter and dome height） on sliding resistance and normal adhesion of biomimetic plates. To incorporate both shape and size, a dimensionless ratio of height to diameter （HDR） was introduced to characterize the effect of construction unit＇s physique. Experiments were conducted in Bangkok clay soil with dry （ 19.8% d.b.）, sticky （36.9% d.b.） and flooded （60.1% d.b.） soil conditions respectively. Soil at sticky limit exhibited the highest sliding resistance （77.8 N） and normal adhesion （3 kPa to 7 kPa）, whereas these values were 61.7 N and 〈0.2 kPa in dry, and 53.7 N and 0.5 kPa to 1.5 kPa in flooded soil conditions. Protuberances with HDR ≤ 0.5 lowered sliding resistance by 10% - 30% and the same reduced normal adhesion by 10% - 60%. The amount of reduction in both sliding resistance and normal adhesion was higher in flooded soil. Lighter normal loads obviously produced lesser resistance and adhesion.