Design of Variable Pump Displacement Controller based on FLSMC Method

2021 ◽  
pp. 2158008
Author(s):  
Dabing xue ◽  
Zhiqiang Chao ◽  
Xixia Liu ◽  
Huaying Li ◽  
Shousong Han ◽  
...  
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Linearization Method ◽  
Load Parameter ◽  
Tracking Accuracy ◽  
Control Moment ◽  
Comparison Results ◽  
Displacement Pump ◽  
The Impact

To reduce the effect of nonlinear factors and improve the tracking accuracy of the control system, a controller based on feedback linearization sliding mode control (FLSMC) method is proposed. This paper takes a variable displacement pump driven by a constant speed motor as the research object to verify the effectiveness of the designed controller. First, a high-order nonlinear model of the variable pump displacement control mechanism is established. Meanwhile, the load characteristic of the control cylinder is obtained by analyzing the swashplate control moment. Then the author uses the feedback linearization method to linearize the system model and designs a sliding mode controller to eliminate the impact of load parameter changes. Finally, the proposed FLSMC controller is used in simulation and experiment, and the PID controller is used as a comparison. Results show that the FLSMC controller can effectively improve the robustness of the pump control system.

scholarly journals New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengjiang Yang ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Impact Angle ◽  
Guidance And Control ◽  
Ground Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
The Impact

A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

Ship Heading Control with Speed Keeping via a Nonlinear Disturbance Observer

2019 ◽  
Vol 72 (04) ◽  
pp. 1035-1052 ◽  
Author(s):  
Zhiquan Liu ◽  
Xiaoyang Lu ◽  
Diju Gao
Keyword(s):  
Feedback Linearization ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Direct Method ◽  
Adaptive Method ◽  
Linearization Method ◽  
Nonlinear Disturbance Observer ◽  
Actuator Dynamics ◽  
Heading Control ◽  
Nonlinear Disturbance

The control problem for a ship steering system with speed loss is discussed in this paper. Two methods are proposed to deal with the unknown bounded disturbance for a sliding mode controller applied to a nonlinear surface vessel heading control system. The system uncertainties caused by speed changes are taken as internal disturbances, while the wave moments are considered as external disturbances. A feedback linearization method is adopted to simplify the nonlinear system. An adaptive method and a Nonlinear Disturbance Observer (NDO) are proposed for course keeping manoeuvres and speed keeping in vessel steering and provide robust performance for time varying wave disturbance and actuator dynamics. Furthermore, the overall stability conditions of the proposed controllers are analysed by Lyapunov's direct method. Finally, simulation results using the characteristics of a naval vessel illustrate the effectiveness of the presented control algorithms.

A novel self-adaptive modified bat fuzzy sliding mode control of robot manipulator in presence of uncertainties in task space

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2045-2064 ◽  
Author(s):  
Mohammad Veysi ◽  
Mohammad Reza Soltanpour ◽  
Mohammad Hassan Khooban
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Linearization Method ◽  
Task Space ◽  
End Effector ◽  
First Order ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Self Adaptive

SUMMARYIn this paper, an optimal fuzzy sliding mode controller has been designed for controlling the end-effector position in the task space. In the proposed control, feedback linearization method, sliding mode control, first-order fuzzy TSK system and optimization algorithm are utilized. In the proposed controller, a novel heuristic algorithm namely self-adaptive modified bat algorithm (SAMBA) is employed. To achieve an optimal performance, the parameters of the proposed controller as well as the input membership functions are optimized by SAMBA simultaneously. In this method, the bounds of structural and non-structural uncertainties are reduced by using feedback linearization method, and to overcome the remaining uncertainties, sliding mode control is employed. Mathematical proof demonstrates that the closed loop system with the proposed control has global asymptotic stability. The presence of sliding mode control gives rise to the adverse phenomenon of chattering in the end-effector position tracking in the task space. Subsequently, to prevent the occurrence of chattering in control input, a first-order TSK fuzzy approximator is utilized. Finally, to determine the fuzzy sliding mode controller coefficients, the optimization algorithm of Self-Adaptive Modified Bat is employed. To investigate the performance of the proposed control, a two-degree-of-freedom manipulator is used as a case study. The simulation results indicate the favorable performance of the proposed method.

Feedback Linearization for Sliding Mode Control of CNC Electromagnetic Levitation System

2011 ◽  
Vol 130-134 ◽  
pp. 1404-1407
Author(s):  
Yu Zeng Zhang ◽  
Ren Yi Wan ◽  
Zhuo Jun Chen ◽  
Yun Tao Wang
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Control Method ◽  
Sliding Mode ◽  
Electromagnetic Levitation ◽  
Linearization Method ◽  
Numerical Control ◽  
Control Machine Tool ◽  
Mode Control ◽  
Levitation System

In this paper, the levitation rigidity for the levitated crossbeam of the gantry numerical control machine tool which can eliminate friction and increase machining precision is discussed. The feedback linearization and sliding mode control methods are presented in this paper in order to achieve steady levitation. The nonlinear electromagnetic levitation system is transformed into linear system by using feedback linearization method. The sliding mode control method is adopted for improving the robustness of the levitation system. Simulation results show that the system has more powerful ability of suppressing disturbance and high rigidity compared with that using conventional PI control method.

scholarly journals Designing Backstepping Control System for Hypersonic Vehicle Based on Feedback Linearization

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Jianli Wei ◽  
Huan Chen
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Control Method ◽  
Control Volume ◽  
Parametric Uncertainty ◽  
Linearization Method ◽  
Backstepping Control ◽  
Robust Adaptive Control ◽  
Adaptive Backstepping ◽  
Robust Adaptive

A hypersonic vehicle uses the airbreathing scramjet engine and the airframe and engine integrated design. Therefore, there is a strong cross-coupling effect among its aerodynamic force, thrust, structure, and control. The nonlinearity and uncertainty of the model cause difficulties in control system design. Considering the nonlinearity, coupling characteristics, and aerodynamic parametric uncertainty of its longitudinal dynamic model, we design the control law for its altitude system and velocity system based on the adaptive backstepping control method. Because of the feedback linearization method, we introduce the constraints of the flight vehicle’s actuator into the design, obtaining the robust adaptive control system constrained by the actuator of the flight vehicle. To avoid the high-order derivation problem of the feedback linearization method and the derivation of the virtual control volume in adaptive backstepping control method, we use the arbitrary-order robust exact differentiator to solve the high-order derivatives in feedback linearization and utilize the command filter to obtain the virtual control volume and its derivatives. The simulation results show that the robust adaptive control system we designed can achieve the error-free tracking of altitude and velocity command. It can well overcome the influence of structural parameters, aerodynamic parametric uncertainty, and disturbances; meanwhile, the control command can satisfy the constraints of the actuator.

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