For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydrauli...For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.展开更多
针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding ...针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.展开更多
基金Project(51004085)supported by the National Natural Science Foundation of China
文摘For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
文摘针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.
