For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reachin...For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reaching law, and a super twisting sliding mode disturbance observer is investigated. First, the new exponential nonsingular terminal sliding surface is designed by using the advantages of nonsingular terminal sliding mode finite time convergence and strong robustness. Second, to solve the problem of a long convergence time and the serious shaking of the traditional reaching law, a new fast reaching law model with characteristics of the second-order sliding mode is put forward. Third,considering the existence of complex disturbances, the super twisting sliding mode disturbance observer is used to estimate and compensate the composite disturbances online. Finally, compared with the traditional nonsingular fast sliding mode control, simulation results show that the proposed control scheme achieves a good control performance.展开更多
针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state ob...针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state observer,CFT-ESO)的微分平坦和改进型超螺旋滑模双闭环复合控制策略.首先,建立三相交错并联双向DC-DC变换器的数学模型,并根据微分平坦理论将其直流系统转化为微分平坦系统,结合两级具有快速收敛性的有限时间扩张状态观测器提高对系统集总扰动的估计精度.其次,采用内环微分平坦控制、外环改进型超螺旋滑模控制的双闭环控制系统,既能提高系统动态响应过程,又能利用高阶滑模控制算法抑制抖振,同时解决变换器升压模式中非最小相位问题.再次,通过Lyapunov理论证明控制系统的稳定性.最后,利用MATLAB/Simulink仿真软件以及搭建实验平台对控制策略进行验证,结果表明,本文所提控制策略能够很好地抵抗扰动,提高系统的暂态性能.展开更多
基金supported by the National Natural Science Foundation of China(11202162)
文摘For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reaching law, and a super twisting sliding mode disturbance observer is investigated. First, the new exponential nonsingular terminal sliding surface is designed by using the advantages of nonsingular terminal sliding mode finite time convergence and strong robustness. Second, to solve the problem of a long convergence time and the serious shaking of the traditional reaching law, a new fast reaching law model with characteristics of the second-order sliding mode is put forward. Third,considering the existence of complex disturbances, the super twisting sliding mode disturbance observer is used to estimate and compensate the composite disturbances online. Finally, compared with the traditional nonsingular fast sliding mode control, simulation results show that the proposed control scheme achieves a good control performance.
文摘针对直流微电网中储能系统功率波动、负载侧负荷频繁投切等不确定因素引起母线电压产生波动的问题,以储能系统中三相交错并联双向DC-DC变换器为研究对象,提出一种基于级联有限时间扩张状态观测器(cascade finite-time extended state observer,CFT-ESO)的微分平坦和改进型超螺旋滑模双闭环复合控制策略.首先,建立三相交错并联双向DC-DC变换器的数学模型,并根据微分平坦理论将其直流系统转化为微分平坦系统,结合两级具有快速收敛性的有限时间扩张状态观测器提高对系统集总扰动的估计精度.其次,采用内环微分平坦控制、外环改进型超螺旋滑模控制的双闭环控制系统,既能提高系统动态响应过程,又能利用高阶滑模控制算法抑制抖振,同时解决变换器升压模式中非最小相位问题.再次,通过Lyapunov理论证明控制系统的稳定性.最后,利用MATLAB/Simulink仿真软件以及搭建实验平台对控制策略进行验证,结果表明,本文所提控制策略能够很好地抵抗扰动,提高系统的暂态性能.
