基于NDOB的匹配/非匹配不确定性系统滑模控制

Hou Limin; Wang Longyang; Wang Huaizhen

doi:10.16383/j.aas.2017.e160014

基于NDOB的匹配/非匹配不确定性系统滑模控制

doi: 10.16383/j.aas.2017.e160014

1.
辽宁工程技术大学电气与控制工程学院葫芦岛 125105

基金项目:

the National Natural Science Foundation of China 51307076

the Provincial Natural Science Foundation of Liaoning 201602350

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出版历程
- 收稿日期: 2016-01-18
- 录用日期: 2016-11-17
- 刊出日期: 2017-07-20

SMC for Systems With Matched and Mismatched Uncertainties and Disturbances Based on NDOB

1.
Liaoning Technical University, Huludao 125105, China

Funds:

the National Natural Science Foundation of China 51307076

the Provincial Natural Science Foundation of Liaoning 201602350

More Information

Author Bio:
Longyang Wang received the B.S.degree from Tianjin University of Technology and Education, China in 2015, where he is currently pursuing the M.S degree from Liaoning Technical University, China.His research interests include speed control of permanent magnet synchronous motor and model predictive control.E-mail:1974517898@qq.com

Huaizhen Wang received the B.S.degree from Linyi University, China in 2013, where he is currently pursuing the M.S.degree from Liaoning Technical University, China.His research interests include sliding mode control and model predictive control.E-mail:584094206@qq.com

Corresponding author: Limin Hou received the B.S.and M.S.degrees from the Department of Electrical Engineering at Liaoning Technical University, China in 1999 and 2004, respectively.He received the Ph.D.degree from the College of Information Science and Engineering, Northeastern University, China in 2010.Currently, he is an Associate Professor in the Faculty of Electrical and Control Engineering, Liaoning Technical University, Huludao Campus.His research interests include sliding mode control, speed control of permanent magnet synchronous motor.Corresponding author of this paper.E-mail:hlm760410@163.com

摘要

摘要: 针对一类n阶匹配与非匹配不确定性和扰动共存的系统，提出了一种新颖的基于非线性干扰观测器的滑模控制方法。将非匹配扰动的估计值融入到滑模面，设计了集成扰动观测的滑模控制。与传统的滑模控制方法相比，该方法在匹配与非匹配不确定性和扰动出现时具有较好的抑制能力，并能有效地抑制切换增益所引起的抖振现象。利用李雅普诺夫理论和输入-输出稳定性概念严格证明了闭环系统的稳定性。最后通过两个仿真实例验证了所提控制方法的有效性。
- 滑模控制 /
- 非匹配不确定性和扰动 /
- 非线性扰动观测器 /
- 输入-输出稳定
Abstract: This paper proposes a novel sliding mode control (SMC) approach for general nth order systems with matched and mismatched uncertainties and disturbances based on nonlinear disturbance observer (NDOB). By designing a novel sliding mode manifold integrated with a disturbance estimation technique, a NDOB-based SMC method is designed for these systems. As compared with the nominal SMC method, the proposed method obtains a better disturbance rejection ability in the presence of matched and mismatched uncertainties and disturbances, it can ensure a satisfactory system performance and reduce the chattering in case of reducing the switching gain. A rigorous stability analysis of the composite closed-loop system is provided using Lyapunov theory and input-to-state stable concept. Finally, two simulation results are provided to verify the effectiveness of the proposed control method.
- Input-to-state stable /
- mismatched uncertainties and disturbances /
- nonlinear disturbance observer (NDOB) /
- sliding mode control (SMC)
Recommended by Associate Editor Haibo Ji
注释:

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Fig. 1 Control structure of second-order system.

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Fig. 2 System state variables.

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Fig. 3 Control signal of system.

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Fig. 4 Reference/estimation uncertainties and disturbances.

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Fig. 5 Variable speed curve.

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Fig. 6 Speed curve at variable load.

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Fig. 7 $i_q$ response curve.

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Fig. 8 Speed curve under variable parameter.

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Table Ⅰ Control Parameters for the Numerical Example in Case 1

Controllers	Parameters
SMC₁	k = 8, η= 16
SMC₂	k = 8, η= 10
NDOB-SMC	k = 8, η = 10, l = diag{6, 6, 6}

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Table Ⅱ Control Parameters for the Numerical Example in Case 2

Controllers	Parameters
SMC₁	k = 8000, η= 950
NDOB-SMC	k = 8000, η = 950, l = diag{6, 6}

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