The Sliding Mode Variable Structure Control Method for Brushless DC Motors

2014 ◽  
Vol 596 ◽  
pp. 584-589
Author(s):  
Xi Jie Yin ◽  
Jian Guo Xu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
External Disturbances ◽  
Brushless Dc Motors ◽  
Structure Control ◽  
Brushless Dc ◽  
Mode Control ◽  
Sliding Mode Variable Structure

The sliding mode variable structure control method for brushless DC motors with uncertain external disturbances and unknown loads is studied. A neural sliding mode control scheme is proposed for reducing chattering of sliding mode control. A global sliding mode manifold is designed in this approach, which guarantees that the system states can be on the sliding mode manifold at initial time and the system robustness is increased. A radial basis function neural network (RBFNN) is applied to learn the maximum of unknown loads and external disturbances. Based on the neural networks, the switching control parameters of sliding mode control can be adaptively adjusted with uncertain external disturbances and unknown loads. Therefore, the chattering of the sliding mode controller is reduced. Simulation results proved that this control scheme is valid.

ABS Sliding Mode Variable Structure Control Based on Index Reaching Law

2014 ◽  
Vol 915-916 ◽  
pp. 439-443
Author(s):  
Sheng Yi Xuan ◽  
Chuan Xue Song ◽  
Guang Wei Meng
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Active Safety ◽  
Structure Control ◽  
Reaching Law ◽  
Mode Control ◽  
Sliding Mode Variable Structure

ABS(antilock brake system) is one of the most important active safety technology for modern vehicles which could enhance vehicle active safety. In this paper, an improved sliding mode control method based on reaching law has been proposed to solve the vibration problem in traditional sliding mode control. The ABS control strategy has been designed based on the sliding mode variable structure control. On this basis, the ABS single wheel depending on control strategy has been designed to ensure the braking stability. By hardware-in-loop simulation, the results demonstrate that ABS sliding mode variable structure control could enhance braking stability performance and improve the control effect on high friction and low friction road.

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.

Design of Spacecraft Controller Based on Adaptive Fuzzy Sliding Mode Variable Structure

2013 ◽  
Vol 380-384 ◽  
pp. 278-281
Author(s):  
Ju Huo ◽  
Jia Shan Cui
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Variable Structure ◽  
External Interference ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Sliding Mode Variable Structure

Using of feedback linearization technique to solve the problem of traditional sliding mode control chattering. The fuzzy adaptive control and sliding mode variable structure was designed by combining a novel adaptive fuzzy sliding mode variable structure controller. Through fuzzy inference and the stability analysis based on Lyapunov function to obtain fuzzy control rules adaptive law and effective solution to the traditional sliding mode control of the need to determine the parameter perturbation and external interference supremum uncertainty. Simulation results show that this method has better stability and robustness.

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.

Research and Design of Permanent Magnet Synchronous Motor Vector Control for Electric Vehicle

2014 ◽  
Vol 668-669 ◽  
pp. 629-632 ◽  
Author(s):  
Zhi Yu Huang ◽  
Jun Bing Chen
Keyword(s):  
Vector Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Variable Structure ◽  
Parameter Perturbation ◽  
External Disturbances ◽  
Vehicle Performance ◽  
Structure Control ◽  
Sliding Mode Variable Structure ◽  
Research And Design

As the electric vehicles usually run under complex conditions of city road, there always exists parameter perturbation of motor, which will affect the vehicle performance. To solve the problem, an improved sliding mode variable structure control (SMC) method which combines continuous function and reaching law has been proposed in this paper. Then the improved vector control algorithm’s codes are generated automatically in the MMC (Model-based Motor Control) platform. The results show that the improved SMC algorithm has small chattering and strong robustness to the parameter perturbation and the external disturbances.

The Research Based on Fuzzy Sliding Mode Control for Linear Double Inverted Pendulum

2014 ◽  
Vol 926-930 ◽  
pp. 1463-1467
Author(s):  
Li Ding ◽  
Shu Bo Qiu
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Pendulum System ◽  
Structure Control ◽  
Inverted Pendulum System ◽  
Fuzzy Sliding Mode ◽  
Sliding Mode Variable Structure

This paper involves a linear double inverted pendulum system whose the state space model is established by Lagrange function. In order to solve the chattering problem of the conventional quasi-sliding mode variable structure control, this linear double inverted pendulum system applies the fuzzy control theory to adjust the parameterwhich is in the sliding mode variable structure control law. Then the fuzzy theory is utilized to design the sliding mode and deduce the fuzzy sliding mode reaching law. The significance of this method is that it diffuses the control signal, reduces or avoids the chattering phenomenon of sliding mode control. For the most, the simulation results show that the linear double inverted pendulum system based on fuzzy sliding mode variable structure control not only retains the strong robustness of sliding mode variable structure control, but also improves the dynamic quality of the system and weakens the buffeting of the system. Thus the method is proved to have certain research.

Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Shu Wang ◽  
Richard Burton ◽  
Saeid Habibi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Structure Control ◽  
Estimation Strategy ◽  
Mode Control ◽  
New Strategy ◽  
Actuator System ◽  
Hydrostatic System ◽  
Electrohydraulic Actuator

A common problem pertaining to linear or nonlinear systems is the design of a combined robust control and estimation strategy that can effectively deal with noise and uncertainties. The variable structure control (VSC) and its special form of sliding mode control (SMC) demonstrate robustness with regard to uncertainties, although their performance can be severely degraded by noise. As such they can benefit from using state estimates obtained from filters. In this regard, this paper considers the use of a recently proposed robust state and parameter estimation strategy referred to as the variable structure filter (VSF) in conjunction with SMC. The contribution of this paper is a new strategy that combines sliding mode control with the variable structure filter. In the presence of bounded parametric uncertainties and noise, this combined method demonstrates robust stability both in terms of control and state estimation. Furthermore, the combined strategy can be used to achieve high regulation rates or short settling time. The combined VSF and SMC strategy is demonstrated by its application to a high precision hydrostatic system, referred to as the electrohydraulic actuator system.

On adaptive sliding mode control for improved quadrotor tracking

2017 ◽  
Vol 24 (14) ◽  
pp. 3219-3230 ◽  
Author(s):  
Sudhir Nadda ◽  
A Swarup
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Adaptive Method ◽  
Adaptation Strategy ◽  
Adaptive Sliding Mode Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Mode Control

The tracking control of a quadrotor has been considered in this paper. The application of sliding mode control provides robustness against parametric uncertainties, but it requires knowledge of the upper bounds of uncertainties. An adaptation strategy has been proposed to implement sliding mode control, which does not require the upper bound of the uncertainties. The adaptive control law is derived on the basis of Lyapunov stability theory, which guarantees the tracking performance. The adaptation can be tuned faster by proper tuning, and convergence with good tracking can be achieved. The proposed adaptive method has improved robustness and provided simpler implementation. Through an illustrative simulation example, the performance of the proposed control method is presented and also compared with classical sliding mode control from the literature. It is demonstrated that the performance of quadrotor altitude tracking and convergence has been considerably improved while maintaining stability, even in presence of external disturbances and parameter uncertainties.

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.

scholarly journals AUTO LOAD-LEVELLING CONTROL OF A LARGE SPRAYER CHASSIS USING THE SLIDING MODE METHOD

2021 ◽  
pp. 65-80
Author(s):  
Chen Yu ◽  
Wu Jun ◽  
Zhang Shuo ◽  
Chen Jun ◽  
Xia Hui ◽  
...  
Keyword(s):  
Working Conditions ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Good Control ◽  
Variable Structure ◽  
Wheel Load ◽  
Structure Control ◽  
Air Suspension ◽  
Sliding Mode Variable Structure

When a sprayer travels on a ramp or a rough road, the load exerted on each wheel changes. If an unbalanced wheel load is maintained for long periods of time, the wheels may slip, the sprayer’s manoeuvrability is affected, and a rollover accident may occur. In this study, the air suspension of a self-propelled sprayer chassis was investigated, and the potential load imbalance conditions of the sprayer suspension were analysed. A mathematical model of the inflation/deflation of the suspension was established based on air nonlinear thermodynamics and vertical dynamics theory and a ¼-scale vertical dynamics model of the sprayer chassis was developed. A control strategy to balance the sprayer’s wheel load was developed. Considering the nonlinear characteristics of the air suspension, a sliding mode variable structure control method was used to balance the wheel load. Simulation experiments were conducted under different working conditions. The simulation results showed that the sliding mode variable structure control provided good control response and precision. The proposed auto load-levelling controller was tested under different working conditions, including different roll and pitch angles and navigating a rough road; the controller successfully changed the load on each spring to ensure that the sprung mass of the suspension was equal and the wheel load was balanced. The results of this study provide reference information for auto load-levelling control of large sprayers.

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