针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法...针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法来提高偏差耦合的控制精度,并将模糊控制与滑模控制结合,设计一种模糊滑模位移控制器来消除抖动,以此来提高各节点之间的同步控制性能;最后,通过MATLAB/Simulink进行仿真和实验进行验证。仿真和实验结果表明:与传统偏差耦合结构相比,所提方法在受到干扰的情况下各节点之间的误差分别降低68.2%、73.5%、78.2%,具有更佳的同步精度,而且具有良好的鲁棒性。展开更多
Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feed...Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feedback item was designed based on robust H∞ control theory. The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control. Thus the robustness of systems sliding mode motion was improved even the initial states were unknown. Furthermore, when the upper bound of disturbance was unknown, the switching control logic was difficult to design, and the drawbacks of chattering in sliding mode control should also be considered simultaneously. To solve the above-mentioned problems, the fuzzy nonlinear method was applied to approximate the switching control term. Based on the Lyapunov stability theory, the parameter adaptive law which could guarantee the system stability was devised. The proposed control strategy could reduce the system chattering effectively. And the control input would not switch sharply, which improved the practicality of the sliding mode controller. Finally, simulation was conducted on system with parameter perturbations and unknown external disturbances. The result shows that the proposed method could enhance the approaching motion performance effectively. The chattering phenomenon is weakened, and the system possesses stronger robustness against parameter perturbations and external disturbances.展开更多
A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of ...A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.展开更多
文摘针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法。首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法来提高偏差耦合的控制精度,并将模糊控制与滑模控制结合,设计一种模糊滑模位移控制器来消除抖动,以此来提高各节点之间的同步控制性能;最后,通过MATLAB/Simulink进行仿真和实验进行验证。仿真和实验结果表明:与传统偏差耦合结构相比,所提方法在受到干扰的情况下各节点之间的误差分别降低68.2%、73.5%、78.2%,具有更佳的同步精度,而且具有良好的鲁棒性。
基金Project(51476187)supported by the National Natural Science Foundation of China
文摘Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feedback item was designed based on robust H∞ control theory. The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control. Thus the robustness of systems sliding mode motion was improved even the initial states were unknown. Furthermore, when the upper bound of disturbance was unknown, the switching control logic was difficult to design, and the drawbacks of chattering in sliding mode control should also be considered simultaneously. To solve the above-mentioned problems, the fuzzy nonlinear method was applied to approximate the switching control term. Based on the Lyapunov stability theory, the parameter adaptive law which could guarantee the system stability was devised. The proposed control strategy could reduce the system chattering effectively. And the control input would not switch sharply, which improved the practicality of the sliding mode controller. Finally, simulation was conducted on system with parameter perturbations and unknown external disturbances. The result shows that the proposed method could enhance the approaching motion performance effectively. The chattering phenomenon is weakened, and the system possesses stronger robustness against parameter perturbations and external disturbances.
基金Project(2012AA041801)supported by the High-tech Research and Development Program of China
文摘A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.
