Adaptive control and disturbance compensation for gear transmission servo systems with large-range inertia variation

2021 ◽  
pp. 014233122110471
Author(s):  
Xiang Wang ◽  
Baofang Wang ◽  
Yifei Wu ◽  
Jian Guo ◽  
Qingwei Chen
Keyword(s):  
Parameter Identification ◽  
Large Range ◽  
Sliding Mode ◽  
Gear Transmission ◽  
Observation Error ◽  
Servo Systems ◽  
Characteristic Model ◽  
Finite Time Stability ◽  
Uniform Ultimate Boundedness ◽  
The Stability

In gear transmission servo systems, backlash effect and inertia variation often generate low precision, oscillations or even affect the stability. Focusing on this issue, an adaptive terminal integral sliding mode control (ATISMC) strategy and a discrete linear extended state observer (DLESO) are proposed in this article. First, different from using traditional dynamic model, a characteristic model is established with online parameter identification to describe inertia variation. Then, a DLESO is proposed to observe and compensate the modeling error caused by parameter identification and backlash effect. An ATISMC is newly designed based on the characteristic model to suppress the uncertainties and stabilize the whole closed-loop system. Both the uniform ultimate boundedness of observation error and the practical finite-time stability of the system is proved. Finally, simulation and experimental results demonstrate that the proposed strategy can adapt to large-range inertia variation and suppress the backlash effect.

Adaptive terminal sliding-mode controller based on characteristic model for gear transmission servo systems

2018 ◽  
Vol 41 (1) ◽  
pp. 219-234 ◽  
Author(s):  
Xiang Wang ◽  
Yifei Wu ◽  
Enze Zhang ◽  
Jian Guo ◽  
Qingwei Chen
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Gear Transmission ◽  
Mathematics Model ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Servo Systems ◽  
Characteristic Model ◽  
Bounded Set

Backlash and inertia variations, which exist in gear transmission servo systems, often bring inaccuracies, oscillations or even instability. This paper presents an adaptive second-order discrete terminal sliding-mode controller (2-ADTSMC) to deal with the problem. The main contributions of this paper are as follows. First, the characteristic model of gear transmission servo system, which reduces the complexity of traditional mathematics model, is established to describe the load inertia variations. Second, the second-order discrete terminal sliding-mode control is firstly designed based on the characteristic model to restrain the backlash effect. Third, theoretical analysis proves that the quasi-sliding mode is reached in finite steps and the tracking error converges into a bounded set in finite steps. The improvement of tracking performance is verified by simulation and experimental results.

scholarly journals Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Zhihong Wang ◽  
Yifei Wu ◽  
Wei Chen ◽  
Xiang Wang ◽  
Jian Guo ◽  
...  
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Second Order ◽  
Least Square ◽  
Recursive Least Square ◽  
Load Torque ◽  
Servo Systems ◽  
Characteristic Model ◽  
Second Order Sliding Mode

Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

Sliding mode synchronous control for fixture clamps system driven by hydraulic servo systems

2007 ◽  
Vol 221 (9) ◽  
pp. 1039-1045 ◽  
Author(s):  
Z H U Dachang
Keyword(s):  
Sliding Mode ◽  
Dynamic Error ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Tracking Errors ◽  
Servo Systems ◽  
Driving Mechanisms ◽  
Hydraulic Servo ◽  
The Stability ◽  
External Forces

Although the two sides clips of a fixture clamps system have the same driving mechanisms, the synchronous error between the dual drivers of the two clips is generated by non-balanced forces. With position variation of clips and various uncertainty disturbances during the working process, the synchronous movement of the two clips is difficult. In the current paper, sliding mode synchronous controller is designed for fixture clamps system which is driven by hydraulic servo system. Setting the load dynamic error of one driver as external disturbance to the other driver, the departure from synchronization caused by the parameter variation and external forces between two clips is limited. The stability of the control system and the convergence of synchronous tracking errors are guaranteed by Lyapunov stability theory. Simulations illustrate the applicability of the proposed approach.

Sensorless Parameter Identification Method for PMSM Based on Double Manifold Sliding Mode

2010 ◽  
Vol 171-172 ◽  
pp. 632-635
Author(s):  
Ze Cheng ◽  
Fa Bin Yan ◽  
Yan Li Liu ◽  
Ya Fei Ji
Keyword(s):  
Parameter Identification ◽  
Reference Model ◽  
Sliding Mode ◽  
Current Model ◽  
Dynamic Performance ◽  
Adaptive Model ◽  
Output Current ◽  
Identification Method ◽  
Real Model ◽  
The Stability

An adaptive model reference parameter identification method without sensors for PMSM is presented in this paper and this method is based on double manifold sliding mode. The real model of PMSM is selected as the reference model and the d/q frame observer which is constructed using current model of the motor is selected as the adjustable model. The manifold sliding mode surface is constructed using the output (current in d/q frame) errors of the two models. Proper parameters are selected to guarantee the stability of the observer. The adjustable model converges to the reference model and the running state of motor can be identified. Theoretical analysis and simulation results show that the proposed strategy has high static and dynamic performance，high tracking precision as well as stronger robustness.

scholarly journals A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

2018 ◽  
Vol 160 ◽  
pp. 06003
Author(s):  
Baofang Wang ◽  
Chen Qian ◽  
Qingwei Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
State Equations ◽  
Characteristic Model ◽  
The Stability ◽  
Error State

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

scholarly journals Adaptive Integral-Based Robust Q-S Synchronization and Parameter Identification of Nonlinear Hyperchaotic Complex Systems

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Sami Ud Din ◽  
Muhammad Rafiq Mufti ◽  
Humaira Afzal ◽  
Majid Ali ◽  
Muhammad Abdul Moiz Zia
Keyword(s):  
Parameter Identification ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Sliding Mode Controller ◽  
Unknown Parameters ◽  
Integral Sliding Mode ◽  
Error System ◽  
The Stability ◽  
Synchronization Scheme ◽  
Hyperchaotic Systems

This communique presents the Q-S synchronization of two nonidentical complex nonlinear hyperchaotic systems with unknown parameters. An adaptive controller based on adaptive integral sliding mode control and parameter update laws are designed to realize the synchronization and parameter identification to a given map vector. The aforementioned strategy’s employment demands the transformation of a system into a specific structure containing a nominal part and some unknown terms (later on, these unknown terms will be computed adaptively). An integral sliding mode controller is used to stabilize the error system by designing nominal control accompanied by compensator control. For chattering suppression, a continuous compensator of smooth nature is used instead of conventional control. The stability of the proposed algorithm is established in an impressive way, using Lyapunov criteria. A numerical simulation is performed to illustrate the validity of the proposed synchronization scheme.

scholarly journals Adaptive Terminal Sliding-Mode Control for Servo Systems with Inertia Variations

2018 ◽  
Vol 160 ◽  
pp. 05004
Author(s):  
Xiang Wang ◽  
Yifei Wu ◽  
Fei Yan ◽  
Yang Gao ◽  
Zhen Xu
Keyword(s):  
Sliding Mode ◽  
Recursive Least Squares ◽  
Mathematics Model ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Control Performance ◽  
Terminal Sliding Mode ◽  
Servo Systems ◽  
Characteristic Model ◽  
Simulation Results

Inertia variations in servo systems greatly affect the control performance. This paper presents an adaptive terminal sliding-mode controller to deal with the problem. Instead of using traditional mathematics model, a characteristic model, which has more advantages in describing time-varying dynamics, is adopted to describe the servo system with inertia variations. The parameters of characteristic model are identified by the recursive least squares algorithm. Then, an adaptive terminal sliding-mode controller is designed based on the characteristic model. Theoretical analysis proves that the quasi-sliding mode is reached in finite steps. Simulation results demonstrate the improvement of tracking performance of the proposed controller.

scholarly journals Complex dynamical behaviors of a novel exponential hyper–chaotic system and its application in fast synchronization and color image encryption

2021 ◽  
Vol 104 (1) ◽  
pp. 003685042110033
Author(s):  
Javad Mostafaee ◽  
Saleh Mobayen ◽  
Behrouz Vaseghi ◽  
Mohammad Vahedi ◽  
Afef Fekih
Keyword(s):  
Image Encryption ◽  
Chaotic System ◽  
Sliding Mode ◽  
Color Image ◽  
Equilibrium Points ◽  
Lyapunov Stability Theory ◽  
System Stability ◽  
Color Image Encryption ◽  
Terminal Sliding Mode ◽  
Finite Time Stability

This paper proposes a novel exponential hyper–chaotic system with complex dynamic behaviors. It also analyzes the chaotic attractor, bifurcation diagram, equilibrium points, Poincare map, Kaplan–Yorke dimension, and Lyapunov exponent behaviors. A fast terminal sliding mode control scheme is then designed to ensure the fast synchronization and stability of the new exponential hyper–chaotic system. Stability analysis was performed using the Lyapunov stability theory. One of the main features of the proposed controller is the finite time stability of the terminal sliding surface designed with high–order power function of error and derivative of error. The approach was implemented for image cryptosystem. Color image encryption was carried out to confirm the performance of the new hyper–chaotic system. For image encryption, the DNA encryption-based RGB algorithm was used. Performance assessment of the proposed approach confirmed the ability of the proposed hyper–chaotic system to increase the security of image encryption.

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.

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