期刊文献+
任意字段
题名或关键词
题名
关键词
摘要
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息
共找到537篇文章
< 1 2 … 27 >
每页显示 20 50 100
已选0条
引用分析
参考文献
引证文献
 统计分析
检索结果
已选文献
显示方式：
Adaptive Sliding Mode Control With Linear Extended State Observer for Active Magnetic Bearing-Rotor Systems 认领 引用 被引量：1
1
作者 Yaozhong Zheng Hai-Tao Zhang +3 位作者 Ziheng Yu Xiang Huang Haichao Jiao Han Ding 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第8期1736-1738,共3页
Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levi... Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levitation control algorithm based on adaptive sliding mode control(ASMC)equipped with linear extended state observer(LESO).Sufficient conditions are derived to guarantee the asymptotical stability of the associated closed-loop system.Experiments are conducted on a real AMB-rotor platform to demonstrate the effectiveness and superiority of the proposed algorithm. 展开更多
关键词 smart manufacturing linear extended state observer leso sufficient active magnetic bearing rotor systems adaptive sliding mode control magnetic bearings ambs adaptive sliding mode control asmc equipped active levitation control algorithm
暂未订购 下载PDF
Non-singular fast terminal sliding mode control for roll-pitch seeker based on extended state observers 认领 引用 被引量：1
2
作者 XIAO Bowen XIA Qunli 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2025年第2期537-551,共15页
For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode contr... For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode control method, aimed at resolving the frame control problem of roll-pitch seeker tracking high maneu-vering target. The sliding mode surface is structured around the principle of segmentation, which enables the control system’s rapid attainment of the zero point and ensure global fast conver-gence. The system’s state is more swiftly converged to the slid-ing mode surface through an improved adaptive fast dual power reaching law. Utilizing an extended state observer, the overall disturbance is both identified and compensated. The validation of the system’s stability and its convergence within a finite-time is grounded in Lyapunov’s stability criteria. The performance of the introduced control method is confirmed through roll-pitch seeker tracking control simulation. Data analysis reveals that newly proposed control technique significantly outperforms existing sliding mode control methods by rapidly converging the frame to the target angle, reduce the tracking error of the detec-tor for the target, and bolster tracking precision of the roll-pitch seeker huring disturbed conditions. 展开更多
关键词 air-to-air missile roll-pitch seeker finite-time con-vergence combined sliding mode control extended state observer
暂未订购 下载PDF
Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System 认领 引用 被引量：2
3
作者 Zhenshuai Wan Yu Fu +1 位作者 Chong Liu Longwang Yue 《Intelligent Automation & Soft Computing》 SCIE 2023年第6期3565-3581,共17页
Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertaint... Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme. 展开更多
关键词 Hydraulic servo system nonlinear behaviors modeling uncertainties backstepping control sliding mode control extended state observer
暂未订购 下载PDF
An Extended Sliding Mode Observer for Speed, Position and Torque Sensorless Control for PMSM Drive Based Stator Resistance Estimator 认领 引用 被引量：1
4
作者 Pierre Tety Adama Konaté +2 位作者 Olivier Asseu Etienne Soro Pamela Yoboué 《Intelligent Control and Automation》 2016年第1期1-8,共8页
This paper presents a robust sixth-order Discrete-time Extended Sliding Mode Observer (DESMO) for sensorless control of PMSM in order to estimate the currents, speed, rotor position, load torque and stator resistance.... This paper presents a robust sixth-order Discrete-time Extended Sliding Mode Observer (DESMO) for sensorless control of PMSM in order to estimate the currents, speed, rotor position, load torque and stator resistance. The satisfying simulation results on Simulink/Matlab environment for a 1.6 kW PMSM demonstrate the good performance and stability of the proposed ESMO algorithm against parameter variation, modeling uncertainty, measurement and system noises. 展开更多
关键词 PMSM Extended Sliding Mode Observer Feedback Control
暂未订购 下载PDF
Nonlinear Control of an Induction Motor Using a Reduced-Order Extended Sliding Mode Observer for Rotor Flux and Speed Sensorless Estimation 认领 引用 被引量：2
5
作者 Olivier Asseu Michel Abaka Kouacou +3 位作者 Theophile Roch Ori Zié Yéo Malandon Koffi Xuefang Lin-Shi 《Engineering（科研）》 2010年第10期813-819,共7页
This article proposes an innovative strategy to the problem of non-linear estimation of states for electrical machine systems. This method allows the estimation of variables that are difficult to access or that are si... This article proposes an innovative strategy to the problem of non-linear estimation of states for electrical machine systems. This method allows the estimation of variables that are difficult to access or that are simply impossible to measure. Thus, as compared with a full-order sliding mode observer, in order to reduce the execution time of the estimation, a reduced-order discrete-time Extended sliding mode observer is proposed for on-line estimation of rotor flux, speed and rotor resistance in an induction motor using a robust feedback linearization control. Simulations results on Matlab-Simulink environment for a 1.8 kW induction motor are presented to prove the effectiveness and high robustness of the proposed nonlinear control and observer against modeling uncertainty and measurement noise. 展开更多
关键词 Robust Nonlinear Control Induction Motor Reduced-Order Extended Sliding Mode Observers Parameter Estimation
暂未订购 下载PDF
Extended State Observer based Attitude Control of a Bird-like Flapping-wing Flying Robot 认领 引用 被引量：2
6
作者 Keqiang Bai YunZhi Luo +4 位作者 Zhihong Dan Song Zhang Meiling Wang Qiumeng Qian Jun Zhong 《Journal of Bionic Engineering》 SCIE EI CSCD 2020年第4期708-717,共10页
The attitude control system of a flapping-wing flying robot plays an important role in the precise orientation and tracking of the robot.In this paper,the modeling of a bird-like micro flapping-wing system is introduc... The attitude control system of a flapping-wing flying robot plays an important role in the precise orientation and tracking of the robot.In this paper,the modeling of a bird-like micro flapping-wing system is introduced,and the design of a sliding mode controller based on an Extended State Observer(ESO)is described.The main design difficulties are the control law and the adaptive law for the attitude control system.To address this problem,a sliding mode adaptive extended state observer algorithm is proposed.Firstly,a new extended state approximation method is used to estimate the final output as a disturbance state.Then,a sliding mode observer with good robustness to the model approximation error and external disturbance is used to estimate the system state.Compared with traditional algorithms,this method is not only suitable for more general cases,but also effectively reduces the influence of the approximation error and interference.Next,the simulation and experiment example is given to illustrate the implementation process.The results show that the algorithm can effectively estimate the state of the attitude control system of the flapping-wing flying robot,and further guarantee the robustness of the model regarding error and external disturbance. 展开更多
关键词 bionic attitude control flapping-wing flying robot sliding mode adaptive control extended state observer
A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems 认领 引用 被引量：20
7
作者 Jun-feng JIANG Xiao-jun ZHOU +2 位作者 Wei ZHAO Wei LI Wen-dong ZHANG 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2020年第8期1239-1250,共12页
Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control per... Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control performance of PMSM systems,a new method that has fast response and good robustness is proposed in this study.First,a modified integral terminal sliding mode controller is developed,which has a fast-sliding surface and a continuous reaching law.Then,an extended state observer is applied to measure the internal and external disturbances.Therefore,the disturbances can be compensated for in a feedforward manner.Compared with other sliding mode methods,the proposed method has faster response and better robustness against system disturbances.In addition,the position tracking error can converge to zero in a finite time.Simulation and experimental results reveal that the proposed control method has fast response and good robustness,and enables high-precision control. 展开更多
关键词 Permanent magnet synchronous motor(PMSM) Sliding mode controller Extended state observer Robust control Motion control
暂未订购 下载PDF
Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System 认领 引用 被引量：6
8
作者 ANG Hongdu LI Xiaogang +2 位作者 LIU Xin KARKOUB Mansour ZHOU Liqin 《Journal of Ocean University of China》 SCIE CAS CSCD 2020年第5期1081-1093,共13页
In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, t... In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques. 展开更多
关键词 Fuzzy sliding mode active disturbance rejection controller(FSMADRC) linear extended state observer(LESO) auto-nomous underwater vehicle-manipulator system(AUVMS) total disturbance fuzzy logic control
暂未订购 下载PDF
Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer 认领 引用 被引量：8
9
作者 CHEN Qiang TAO Liang NAN Yurong 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2016年第4期978-990,共13页
In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is ... In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination. 展开更多
关键词 Extended state observer full-order sliding mode control high-order nonlinear system
暂未订购 下载PDF
Robust sliding mode control with ESO for dual-control missile 认领 引用 被引量：3
10
作者 Wei Shang Shengjing Tang +2 位作者 Jie Guo Yueyue Ma Yuhang Yun 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2016年第5期1073-1082,共10页
This paper proposes a novel composite dual-control bycombing the integral sliding mode control(ISMC)method basedon the finite time convergence theory with extended state observer(ESO)for a tracking problem of a missil... This paper proposes a novel composite dual-control bycombing the integral sliding mode control(ISMC)method basedon the finite time convergence theory with extended state observer(ESO)for a tracking problem of a missile with tail fins and reactionjetcontrol system(RCS).First,the ISMC method based on finitetime convergence is utilized to design the control law of tail fins andthe pulse control of RCS for the dual-control system,ensuring thesystem with rapid response and high accuracy of tracking.Then,ESO is employed for the estimation of aerodynamic disturbancesinfluenced by the airflow of thruster jets.With the characteristicof high accuracy estimation of ESO,the chattering free trackingperformance of the attack angle command and the robustnessof the control law are achieved.Meanwhile,the stability of thedual-control system is analyzed based on finite time convergencestability theorem and Lyapunov’s theorem.Finally,numerical simulationsdemonstrate the effectiveness of the proposed design. 展开更多
关键词 reaction-jet control system(RCS) tail fins system integral sliding mode control extended state observer(ESO).
暂未订购 下载PDF
Sliding mode control for synchronization of chaotic systems with structure or parameters mismatching 认领 引用 被引量：3
11
作者 厉小润 赵辽英 赵光宙 《Journal of Zhejiang University-SCIENCE A》 CAS 2005年第6期571-576,共6页
This paper deals with the synchronization of chaotic systems with structure or parameters difference. Nonlinear differential geometry theory was applied to transform the chaotic discrepancy system into canonical form.... This paper deals with the synchronization of chaotic systems with structure or parameters difference. Nonlinear differential geometry theory was applied to transform the chaotic discrepancy system into canonical form. A feedback control for synchronizing two chaotic systems is proposed based on sliding mode control design. To make this controller physically realizable, an extended state observer is used to estimate the error between the transmitter and receiver. Two illustrative examples were carried out: (1) The Chua oscillator was used to show that synchronization was achieved and the message signal was recovered in spite of parametric variations; (2) Two second-order driven oscillators were presented to show that the synchronization can be achieved and that the message can be recovered in spite of the strictly different model. 展开更多
关键词 Chaos synchronization Sliding mode control Extended state observer Secure communication
暂未订购 下载PDF
Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances 认领 引用 被引量：1
12
作者 Li Ding Yong Yao Rui Ma 《Computer Modeling in Engineering & Sciences》 SCIE EI 2023年第5期1539-1558,共20页
With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and p... With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies. 展开更多
关键词 Aerial manipulator cable-driven adaptive super-twisting linear extend state observer fractional-order nonsingular terminal sliding mode
暂未订购 下载PDF
The Non-Singular Fast Terminal Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Based on Deep Flux Weakening Switching Point Tracking 认领 引用 被引量：1
13
作者 Xiangfei Li Yang Yin +2 位作者 Yang Zhou Wenchang Liu Kaihui Zhao 《Energy Engineering》 EI 2023年第2期277-297,共21页
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag... This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation. 展开更多
关键词 Interior permanentmagnet synchronousmotor(IPMSM) flux weakening(FW)control non-singular fast terminal sliding mode control(NFTSMC) extended sliding mode disturbance observer(ESMDO)
暂未订购 下载PDF
Extended state observer-based finite-time adaptive sliding mode control for wheeled mobile robot 认领 引用 被引量：1
14
作者 Brahim Moudoud Hicham Aissaoui Mohammed Diany 《Journal of Control and Decision》 EI 2022年第4期465-476,共12页
In this paper,an Improved Extended State Observer-based Finite-Time adaptive sliding mode control,is investigated for trajectory tracking control of a wheeled mobile robot.First,a novel finite-time adaptive sliding mo... In this paper,an Improved Extended State Observer-based Finite-Time adaptive sliding mode control,is investigated for trajectory tracking control of a wheeled mobile robot.First,a novel finite-time adaptive sliding mode control,based on the fractional power of the sliding surface,is developed to deal with the chattering problem.Moreover,this strategy improves the conver-gence rate by adjusting online the switching part in sliding mode control.Second,an improved Non-linear ESO is employed to reconstruct and compensate for the unknown disturbances.To complete the trajectory tracking control,the kinematic algorithm is in troduced.Theoretically,the proposed control scheme converges within finite-time thanks to the Lyapunov method.Finally,numerical simulations show the efficiency of the designed controller. 展开更多
关键词 Finite-Time adaptive control non-linear extended state observer adaptive sliding mode control Lyapunov theory
Novel Logarithmic Non-Singular Terminal Sliding Mode and ItsApplication in Attitude Control of QTR 认领 引用
15
作者 Haibo Liu Heping Wang Junlei Sun 《Journal of Harbin Institute of Technology(New Series)》 CAS 2019年第5期51-59,共9页
In this study we mainly focus on the attitude control problem of a quad tilt rotor aircraft with respect to unknown external disturbance. We propose a class of control methods based on a novel logarithmic fast non sin... In this study we mainly focus on the attitude control problem of a quad tilt rotor aircraft with respect to unknown external disturbance. We propose a class of control methods based on a novel logarithmic fast non singular terminal sliding surface a new fast reaching law and extended state disturbance observer. A logarithmic non singular terminal sliding surface is used owing to its convergence in finite time and significant robustness. A fast reaching law with two order characteristics of the sliding mode is designed. This reaching law can be used reduce the convergence time of traditional reaching law. In addition the extended state disturbance observer is utilized for online estimation and to compensate for system disturbance. The simulation experiment results show that the control strategy proposed in this paper outperforms the traditional non singular fast sliding mode control. 展开更多
关键词 tilt rotor nonsingular sliding mode control attitude control reaching law extended state disturbance observer
暂未订购 下载PDF
数据驱动扩展滑模观测器的PMSM无模型自适应高阶滑模控制 认领 引用 被引量：2
16
作者 赵凯辉 涂麟轩 +2 位作者 贾林 黄宜山 何静 《电子测量与仪器学报》 EI CSCD 北大核心 2026年第1期143-155,共13页
针对永磁同步电机(permanent magnet synchronous motor,PMSM)驱动系统过度依赖精确模型且面临负载扰动时鲁棒性差的问题,提出一种基于数据驱动扩展滑模观测器的新型无模型自适应高阶滑模控制策略。首先,将电机运动方程转化为离散偏格... 针对永磁同步电机(permanent magnet synchronous motor,PMSM)驱动系统过度依赖精确模型且面临负载扰动时鲁棒性差的问题,提出一种基于数据驱动扩展滑模观测器的新型无模型自适应高阶滑模控制策略。首先,将电机运动方程转化为离散偏格式动态线性化范模型。其次,构建融合偏格式无模型自适应控制和离散时间高阶滑模控制优点的新型控制器;同时设计基于数据驱动的扩展非奇异离散终端滑模观测器,实时观测扰动并反馈至控制器以补偿跟踪误差。然后,基于电机输出转速和滑动时间窗口内的输入参考电流数据,构造改进型伪梯数实时估计算法,增强对时变参数的跟踪能力,实现基于二阶偏格式范模型的数据驱动控制。最后,通过在工况突变情况下与传统方法的仿真和实验对比,结果表明该方法能使电机收敛时间缩短35%,由负载扰动引起的平均波形畸变率减小18.4%,有力保障了PMSM的稳定、高效运行,验证了所提方法的可靠性与优越性。 展开更多
关键词 偏格式动态线性化 伪梯数 数据驱动的扩展滑模观测器 无模型自适应高阶滑模控制
暂未订购 下载PDF
基于时滞补偿的DK-2机车制动滑模自抗扰控制 认领 引用 被引量：1
17
作者 肖友刚 胡紫欣 +1 位作者 李蔚 袁玄成 《铁道科学与工程学报》 EI CAS CSCD 北大核心 2026年第1期275-288,共14页
为解决机车空气制动系统时滞与扰动导致制动控制性能下降的问题,以DK-2型机车制动机为研究对象,在分析制动机压力控制原理的基础上,设计一种带时滞与扰动补偿的滑模自抗扰复合控制器(sliding mode active disturbance rejection control... 为解决机车空气制动系统时滞与扰动导致制动控制性能下降的问题,以DK-2型机车制动机为研究对象,在分析制动机压力控制原理的基础上,设计一种带时滞与扰动补偿的滑模自抗扰复合控制器(sliding mode active disturbance rejection controller with time-delay and disturbance compensation,SMADRCWC)。首先,采用AMESim软件建立其气动系统数值仿真模型,探明时滞对DK-2型制动机的影响程度。在此基础上,设计时滞因子能自适应调整的输出预估跟踪微分器(adaptive output predictive tracking differentiator,AOPTD),在系统动态变化阶段增大以充分补偿时滞,在稳态时减小以避免超调;为了补偿气路泄漏、模型不确定性及外部干扰等总扰动,设计扩张状态观测器(extended state observer,ESO)对其进行实时估计并补偿,将AOPTD、ESO与滑模控制(sliding mode control,SMC)相结合,综合形成具有时滞补偿和扰动抑制功能的闭环控制器SMADRCWC。仿真结果表明:SMADRCWC能够有效提升列车管和制动缸的压力跟踪精度,同时减少电磁阀的频繁动作,提高系统运行的稳定性;在1000 ms时滞工况下,相比PID和滑模控制,该策略能够显著缩短压力调节时间,并有效补偿因时滞导致的动态误差,避免了超调现象的发生;在100~1000 ms时滞范围及复合扰动作用下,SMADRCWC控制下的DK-2型制动机运行平稳无超调,且压力控制误差在±5 kPa范围内,体现出了很强的鲁棒性。所设计的SMADRCWC控制器为不确定时滞和复杂扰动环境的机车空气制动系统控制提供了一种新的解决方法。 展开更多
关键词 DK-2制动机 时滞补偿 输出预估跟踪微分器 扩张状态观测器 滑模自抗扰控制
暂未订购 下载PDF
新型滑模自抗扰起重机电机控制系统研究 认领 引用 被引量：1
18
作者 孙会琴 回宝峰 +3 位作者 王宏辉 张世宇 海洪宽 杨晓锐 《河北科技大学学报》 CAS 北大核心 2026年第1期40-48,共9页
为了提高起重机永磁同步电机(permanent magnet synchronous motor,PMSM)的响应速度及系统的鲁棒性,提出一种改进指数趋近律。在基于磁场定向矢量控制(field-oriented control,FOC)的基础上使速度环采用新型滑模控制(new sliding mode c... 为了提高起重机永磁同步电机(permanent magnet synchronous motor,PMSM)的响应速度及系统的鲁棒性,提出一种改进指数趋近律。在基于磁场定向矢量控制(field-oriented control,FOC)的基础上使速度环采用新型滑模控制(new sliding mode control,NSMC),为趋近项引入新函数f(s),提升系统状态变量趋近于滑模面的响应速度;将符号函数sign(s)替换为连续函数h(s),减小因符号函数的不连续性引起的抖振;设计新型扩张状态观测器(new extended state observer,NESO)观测扰动,进一步优化转速控制器,将传统观测器中的fal(s)函数替换成一种非线性光滑函数K(s)来消除抖振,提高观测器的观测精度。结果表明,采用优化算法后电机在启动时,转速在约0.05 s后稳定下来,出现约10 r/min的转速振荡,验证了控制器算法的正确性。所提算法能有效提升系统的响应速度,可为起重机PMSM控制提供参考。 展开更多
关键词 电机学 永磁同步电机 新型滑模控制 新型扩张状态观测器 抖振 起重机
暂未订购 下载PDF
农业机器人自由步态多重稳定性反步滑模控制 认领 引用 被引量：1
19
作者 丁小娜 杨欣欣 《机械设计与制造》 北大核心 2026年第7期71-76,共6页
农业机器人自由步态控制中,关节空间与足端任务空间之间缺乏显式、连续的解析映射关系,导致步态规划与控制复杂度显著增加;同时,系统呈现强耦合、非线性特性,使得运动控制与力矩控制难以解耦,在非结构化的农田环境中关节力矩抖振幅度较... 农业机器人自由步态控制中,关节空间与足端任务空间之间缺乏显式、连续的解析映射关系,导致步态规划与控制复杂度显著增加;同时,系统呈现强耦合、非线性特性,使得运动控制与力矩控制难以解耦,在非结构化的农田环境中关节力矩抖振幅度较大。为此,提出一种反步滑模控制策略,实现多重稳定性控制。以四足构型农业机器人为对象,利用Denavit-哈滕伯格(Denavit-Hartenberg,D-H)法和齐次变换矩阵构建关节与足端位姿映射关系,为步态规划和控制算法提供量化目标。鉴于农业机器人强耦合、非线性特性,采用欧拉拉格朗日方法剖析机器人运动与力矩关联,为控制算法设计奠定理论基础。设计扩张状态观测器(Extended State Observer,ESO),将农业机器人作业时的外部干扰视为扩张状态进行实时估计,在控制输入中引入补偿项提升系统抗干扰能力。设计反步滑模控制律,结合反步控制与滑模控制应对机器人强非线性与不确定性,实现自由步态的全局鲁棒性和多重稳定性控制。实验结果表明,所提方法可减少机器人质心位移波动,稳定翻滚角,令关节力矩抖振幅度大幅度降低,显著提升了自由步态的多重稳定性与抗干扰能力。 展开更多
关键词 农业机器人 步态稳定性 反步滑模控制 齐次变换矩阵 扩张状态观测器
暂未订购 下载PDF
基于新型滑模趋近律的PMSM自抗扰转速控制器设计 认领 引用 被引量：1
20
作者 王晓 毛帅 +2 位作者 于圣仟 丁丽 刘剑 《机床与液压》 北大核心 2026年第11期127-135,共9页
针对永磁同步电机(PMSM)应用传统滑模控制(SMC)控制转速时存在抗扰能力弱的问题,提出一种融合新型滑模趋近律与线性扩张状态观测器(LESO)的复合转速控制策略。通过引入与系统状态相关的可变增益,提出一种新型滑模趋近律,并在此基础上设... 针对永磁同步电机(PMSM)应用传统滑模控制(SMC)控制转速时存在抗扰能力弱的问题,提出一种融合新型滑模趋近律与线性扩张状态观测器(LESO)的复合转速控制策略。通过引入与系统状态相关的可变增益,提出一种新型滑模趋近律,并在此基础上设计新型滑模控制器(NSMC)。考虑到电机运行时易受各种未知扰动的影响,导致转速控制精度下降,结合自抗扰控制思想,在转速环中引入线性扩张状态观测器,以实时估计并补偿由外部负载扰动和电机参数摄动构成的集总扰动,从而增强系统在滑模趋近段的抗干扰能力,提高系统的整体鲁棒性。最后,通过仿真与实验对比传统SMC与改进的NSMC。结果表明:在方波指令下,所提复合控制策略的转速调节时间由传统SMC的34 ms缩短至26 ms;突加突减负载时,转速恢复时间分别由34 ms减至28 ms以及由30 ms减至12 ms;参数摄动时,改进的NSMC转速跟踪误差范围显著小于传统SMC,验证了NSMC的有效性与优越性。 展开更多
关键词 新型滑模趋近律 永磁同步电机 自抗扰控制 滑模控制 扩张状态观测器
暂未订购 下载PDF
已选0条
引用分析
参考文献
引证文献
 统计分析
检索结果
已选文献
上一页 1 2 … 27 下一页 到第 页
在线咨询 使用帮助 返回顶部 意见反馈