Papers by Keyword: Reaching Law

Abstract: Novel reaching law to nonsingular terminal sliding mode control for the control of the second order nonlinear uncertain system is introduced in this paper. The problems of singularity, chattering and slow convergence of the terminal sliding mode control, and verify the stability of the new controller is analyzed. Due to the premise of eliminating the singular value in the nonsingular terminal sliding mode control, the new reaching law based on the power reaching law enables the finite time convergence of the system equilibrium. By applying the new controller to the inverted pendulum system, the sliding surface had been proved fast and the system chattering had been reduced at the same time. Simulation results indict that the system converges to the equilibrium in a short time and the proposed method is feasible and effective.

Abstract: A 30kW interpolation permanent magnet synchronous motor(IPMSM) for electric vehicles is discussed in this paper, the phase current sliding mode observer control strategy is proposed, by means of adjusting the current error between the target and practical phase current of the motor, and according which the designed current sliding mode observer output voltage. An improved index reaching law control method is shown, the switching gain can always maintain smaller and converges to zero when imported time-varying factors to it. The inherent shortcomings of the index reaching law can be overcome by using integral sliding surface with integral separation and importing the boundary layer method, effectively weakening the system buffeting.

Abstract: Master and slave manipulator has been widely used because it can work easily in the working environment where the human beings can hardly work. In order to make the manipulator control system have good tracking performance, a control strategy based on sliding mode control was proposed for master-slave manipulator control system. Considering that the quality and stability of servo system will be affected by the chattering phenomenon in the SMC, a reaching law approach was used to reduce the chattering phenomenon. The proposed control strategy can make the master and slave manipulator have good performances on force and position tracking, and the chattering problem has also been alleviated. Simulation and experiments results show that the proposed control strategy can produce good performances on the force and position tracking, the problem of chattering has also been inhibited significantly, and the stability and quality of the master and slave manipulator has been improved as well.

Abstract: With the shaftless driving technology used in the packaging industry,servo motor control has become increasingly demanding. Beginning with the reasons of chattering, this article proposes a new sliding mode reaching law,adding a power attenuation term in front of the variable speed item,and then affects the shaftless gravure package printing chromatography system with PMSM as the actuator, improved servo motor speed range and efficency of the shaftless driving system.At last,the simulation results indicate the effectiveness of the proposed approach.

Abstract: A discrete sliding mode control based on reaching law is investigated to suppress vibration of high-speed flexible manipulator. The finite element method and experimental modal test is applied to obtain the dynamic model of the system. Due to the influence from uncertain external disturbances and measurement noise, and uncertain parameters, sliding mode control has invariance of the sliding mode. The discrete sliding mode control approach with reaching law is applied to design the vibration controller which enables the system to be zero state as the system states are away from the equilibrium one due to external disturbances. The discrete Kalman filtering technique is employed to construct state estimator because the state variables cannot be directly measured. The first three natural frequencies and damping ratio are obtained by using experimental modal testing. The experimental control system is constructed and experimental validation is carried out using dSPACE real-time simulation system and MATLAB/Simulink. The experimental results showed that the proposed controller can effectively suppress the vibration response of the flexible manipulator.

Abstract: Based on the dynamic model of the nonlinear vibration system which driven by double exciting motors, the rotate speed difference and phase difference state space equations have been deduced. According to the design feature of the nonlinear vibration system and the vibration synchronization requirement of double exciting motors, the approach control synchronization strategy has been deduced with sliding mode reaching law. The practical examples and tests shows that the reaching law synchronization controller can effectively control the double exciting motors to realize the synchronization movement, and the synchronization controller has stronger robustness. The analysis result can provide the theoretical and test basis for the further exploitation of synchronization vibrating machine.

Abstract: A kind of intelligent vehicle–road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.