scholarly journals A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

2015 ◽  
Vol 2015 ◽  
pp. 1-16
Author(s):  
Yin Zhao ◽  
Ying-kai Xia ◽  
Ying Chen ◽  
Guo-Hua Xu
Keyword(s):  
Control System ◽  
Control Theory ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Speed Control ◽  
Underwater Vehicle ◽  
Vehicle Speed ◽  
Sliding Mode Variable Structure ◽  
Traction System

Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.

scholarly journals Cooperative control method of multi-missile formation under uncontrollable speed

2021 ◽  
Vol 39 (2) ◽  
pp. 249-257
Author(s):  
Zhenlin Zhang ◽  
Ke Zhang ◽  
Meibo Lyu ◽  
Minghao Wang ◽  
Zhiguo Han
Keyword(s):  
Control System ◽  
Control Theory ◽  
Coordinate System ◽  
Relative Position ◽  
Formation Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Sliding Mode Variable Structure

Under the missile speed is uncontrollable, a design method of multi-missile formation flight controller based on the sliding mode variable structure control theory and adaptive dynamic surface control theory is proposed. Firstly, according to the relative position of the leader and the follower in the inertial frame, the tracking error model for the relative position and the expected relative position between the leader and the follower is obtained, and the multi-missile formation control system in the inertial coordinate system is obtained. Secondly, in order to obtain the expression of the formation control system in the ballistic coordinate system, the acceleration of the missile in the ballistic coordinate system is converted to the inertial coordinate system. Combining with the tracking of the relative position and the desired relative position of the leader and the followers, we can obtain the simplified error model for the formation control system. Then the sliding mode variable structure control theory and the adaptive dynamic surface control theory are used to design the formation controllers for the leader and follower missiles respectively, and the stability of the present controller is analysed via the Lyapunov stability theory. Finally, the designed formation controllers are used for the leader and follower missiles to simulate the parameters. The results verify the feasibility and effectiveness of the present method.

Research and Analysis for Electronic Throttle Control Method

2012 ◽  
Vol 588-589 ◽  
pp. 1628-1631
Author(s):  
Jian Min Sun ◽  
Yu Bo Yin ◽  
Ze Yang Zhou
Keyword(s):  
Control Theory ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Manufacturing Companies ◽  
Electronic Throttle ◽  
Structure Control ◽  
Control Functions ◽  
Sliding Mode Variable Structure ◽  
Electronic Throttle Control

By reviewing the development of the electronic throttle abroad, it introduces the development of foreign electronic throttle. Control theory has been constantly enriched and control functions developed from single integrated. With the development of domestic research, some car manufacturing companies and university research institutions have obtained certain results. Articles in control theory focus on the theory of PID control, fuzzy control theory, sliding mode variable structure control theory research and more mature theory, and then, the above theories were compared. Finally, according to the articles of the current development state of electronic throttle, the article describes the prospect of the electronic throttle.

Aircraft Controller Flight Control System Design

2014 ◽  
Vol 602-605 ◽  
pp. 1291-1294
Author(s):  
Hong Cheng Zhou ◽  
Dao Bao Wang
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Law ◽  
Low Velocity ◽  
Structure Control ◽  
Sliding Mode Variable Structure ◽  
And Control

The servo control methods of motion configuration are researched. Based on analysis for characteristic of the motion configuration, the control strategy and control law used on the motion control system are presented. The controllers are respectively designed by frequency correcting method and normal control method which belongs to classical control theory. Sliding mode variable structure control method is presented for location control law designing, so that the problem of location control loop low velocity creeping is solved, and a simulating experimentation demonstrate the effectiveness of the proposed approach.

Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

2020 ◽  
Vol 47 (2) ◽  
pp. 219-229 ◽  
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Dehua Zou ◽  
Yu Yan ◽  
An Zhang ◽  
...  
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Model ◽  
Joint Motion ◽  
Content Type ◽  
Structure Control ◽  
Sliding Mode Variable Structure

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

scholarly journals Experimental study on sliding mode variable structure control of active vibration isolation system of floating raft under multiple excitations

2018 ◽  
Vol 37 (4) ◽  
pp. 1176-1187
Author(s):  
Xianglong Wen ◽  
Kang Yi ◽  
Chunsheng Song ◽  
Jinguang Zhang
Keyword(s):  
Vibration Isolation ◽  
Control Method ◽  
Sliding Mode ◽  
Reference Signal ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Vibration Signal ◽  
Isolation System ◽  
Structure Control ◽  
Sliding Mode Variable Structure

The frequency components of vibration signal in vibration isolation system under multiple excitations are quite complex.Self-adaptive feedforward control method based on Least Mean Square algorithm has strict requirements for reference signal, which results in a certain restriction on its practical application. Sliding mode variable structure control method needs neither complicated reference signal nor accurate mathematical model. It has the strong robustness for external disturbance and system parameter perturbation, and the physical implementation is simple. To this end, application of sliding mode variable structure control method is studied. First, mathematical model of the control channel through system is established for identification. Second, the discrete sliding mode variable structure controller based on state-space model is designed to carry out simulation and experiment. The experimental result indicates that root mean square value of vibration signal after control is decreased by 57.90%, of which the amplitudes of two main frequency components 17 and 25 Hz reduce by 42.66 and 72.71%, respectively. This shows that sliding mode variable structure control is an effective control method for active vibration isolation of floating raft under multiple excitations.

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