Study of input translation in sliding mode structure switching for high frequency full bridge inverter

2012 ◽  
Author(s):  
Arun Kumar Paul
Keyword(s):  
High Frequency ◽  
Sliding Mode ◽  
Mode Structure ◽  
Structure Switching

Speed control of induction motors using a novel fuzzy sliding-mode structure

2002 ◽  
Vol 10 (3) ◽  
pp. 375-383 ◽  
Author(s):  
F. Barrero ◽  
A. Gonzalez ◽  
A. Torralba ◽  
E. Galvan ◽  
L.G. Franquelo
Keyword(s):  
Induction Motors ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Structure ◽  
Fuzzy Sliding Mode

scholarly journals Delay compensation based controller for rotary electrohydraulic servo system

2021 ◽  
Author(s):  
Zakarya Omar ◽  
Xingsong Wang ◽  
Khalid Hussain ◽  
Mingxing Yang
Keyword(s):  
High Frequency ◽  
Dead Time ◽  
Sliding Mode ◽  
Servo System ◽  
Smith Predictor ◽  
Delay Compensation ◽  
Mechanical Parts ◽  
System Output ◽  
Electrohydraulic Servo System ◽  
The Stability

AbstractThe typical power-assisted hip exoskeleton utilizes rotary electrohydraulic actuator to carry out strength augmentation required by many tasks such as running, lifting loads and climbing up. Nevertheless, it is difficult to precisely control it due to the inherent nonlinearity and the large dead time occurring in the output. The presence of large dead time fires undesired fluctuation in the system output. Furthermore, the risk of damaging the mechanical parts of the actuator increases as these high-frequency underdamped oscillations surpass the natural frequency of the system. In addition, system closed-loop performance is degraded and the stability of the system is unenviably affected. In this work, a Sliding Mode Controller enhanced by a Smith predictor (SMC-SP) scheme that counts for the output delay and the inherent parameter nonlinearities is presented. SMC is utilized for its robustness against the uncertainty and nonlinearity of the servo system parameters whereas the Smith predictor alleviates the dead time of the system’s states. Experimental results show smoother response of the proposed scheme regardless of the amount of the existing dead time. The response trajectories of the proposed SMC-SP versus other control methods were compared for a different predefined dead time.

Discrete-Time H-Infinity Synthesis of Frequency-Shaped Sliding Mode Control for Suppression of Vibration With Multiple Peak Frequencies

2016 ◽  
Author(s):  
Minghui Zheng ◽  
Masayoshi Tomizuka
Keyword(s):  
High Frequency ◽  
Sliding Mode ◽  
Disk Drive ◽  
Sliding Surface ◽  
Surface Dynamics ◽  
H Infinity ◽  
High Frequencies ◽  
Multiple Peak ◽  
Significant Performance ◽  
The Stability

Vibration with multiple large peaks at high frequencies may cause significant performance degradation and have become a major concern in modern high precision control systems. To deal with such high-frequency peaks, it is proposed to design a frequency-shaped sliding mode controller based on H∞ synthesis. It obtains an ‘optimal’ filter to shape the sliding surface, and thus provides frequency-dependent control allocation. The proposed frequency-shaping method assures the stability in the presence of multiple-peak vibration sources, and minimizes the weighted H∞ norm of the sliding surface dynamics. The evaluation is performed on a simulated hard disk drive with actual vibration sources from experiments, and the effectiveness of large vibration peak suppression is demonstrated.

scholarly journals Dynamic Modeling and Adaptive Robust Synchronous Control of Parallel Robotic Manipulator for Industrial Application

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23
Author(s):  
Haiqiang Zhang ◽  
Hairong Fang ◽  
Qi Zou ◽  
Dan Zhang
Keyword(s):  
Trajectory Tracking ◽  
High Frequency ◽  
Parallel Manipulator ◽  
Sliding Mode ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Adaptive Robust Control ◽  
Lyapunov Theory ◽  
Synchronous Control ◽  
Effective Manner

Control of parallel manipulators is very hard due to their complex dynamic formulations. If part of the complexity is resulting from uncertainties, an effective manner for coping with these problems is adaptive robust control. In this paper, we proposed three types of adaptive robust synchronous controllers to solve the trajectory tracking problem for a redundantly actuated parallel manipulator. The inverse kinematic of the parallel manipulator was firstly developed, and the dynamic formulation was further derived by mean of the principle of virtual work. Furthermore, linear parameterization regression matrix was determined by virtue of command function “equationsToMatrix” in MATLAB. Secondly, the three adaptive robust synchronous controllers (i.e., sliding mode control, high gain control, and high frequency control) are developed, by incorporating the camera sensor technique into adaptive robust synchronous control architecture. The stability of the proposed controllers was proved by utilizing Lyapunov theory. A sequence of simulation tests were implemented to prove the performance of the controllers presented in this paper. The three proposed controllers can theoretically guarantee the errors including trajectory tracking errors, synchronization errors, and cross-coupling errors asymptotically converge to zero for a given trajectory, and the estimated unknown parameters can also approximately converge to their actual values in the presence of unmodeled dynamics and external uncertainties. Moreover, all the simulation comparative results were presented to illustrate that the adaptive robust synchronous high-frequency controller possess a much superior comprehensive performance than two other controllers.

scholarly journals Vibration Reduction of the Nonlinearly Tufted Carpet Yarn by a Modified Sliding Mode Control Method

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Shuang Huang ◽  
Xin Wu ◽  
Peixing Li
Keyword(s):  
Sliding Mode Control ◽  
High Frequency ◽  
Control Algorithm ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Control Force ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The yarn vibration causes the yarn tension value to fluctuate, causing a change in the amount of yarn feed, thus causing a deviation of the carpet pile height from the predetermined value. To solve this problem, the sliding mode control algorithm is used to design the sliding mode function and the sliding mode control law. And four variables in the yarn vibration system are controlled by the MATLAB software. For solving the chattering problem of the control law, the sliding mode control law is improved. The fuzzy sliding mode control algorithm based on the quasisliding mode is adopted. The results show that the sliding mode control algorithm is effective, but the sliding mode control force needs to be switched at high frequency and there is severe chattering. The fuzzy sliding mode control algorithm based on quasisliding mode is adopted to achieve better control effect with a smaller force. In addition, the control force does not have high-frequency switching, and the change is relatively stable, which reduces the chattering phenomenon of sliding mode control.

scholarly journals ROBUST VIBRATION CONTROL OF WIND-EXCITED HIGHRISE BUILDING STRUCTURES

2015 ◽  
Vol 21 (8) ◽  
pp. 967-976 ◽  
Author(s):  
Nengmou Wang ◽  
Hojjat Adeli
Keyword(s):  
Vibration Control ◽  
High Frequency ◽  
Sliding Mode ◽  
Control Force ◽  
Building Structures ◽  
Linear Quadratic ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Equivalent Control ◽  
Control Forces

A robust filtered sliding mode control (SMC) approach is presented for vibration control of wind-excited highrise building structures. Rather than using a Lyapunov-function based control design, an alternative way is provided to find the control force based on the equivalent control force principle to obtain the control force. A low pass filter is properly selected to remove the high-frequency components of the control force while retaining the structural stability. The performance of the proposed filtered SMC is evaluated by application to a wind-excited 76-story building benchmark problem equipped with an active tuned mass damper (ATMD) on the roof. Due to the elimination of high-frequency part of the control force, the structure, sensors, actuators, and dampers are all less excited, and consequently their response is reduced compared with the unfiltered SMC approach. In addition, the required control forces are reduced which means a reduction in the size of actuators, thus making their implementation more practical. It is shown the proposed method is more robust to structural stiffness uncertainties compared with the linear quadratic Gaussian (LQG) algorithm and another implementation of SMC.

scholarly journals Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yan Ren ◽  
Zhenghua Liu ◽  
Le Chang ◽  
Nuan Wen
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Servo System ◽  
Adaptive Sliding Mode ◽  
Main System

A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

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