基于扩张状态观测器的连铸结晶器振动位移系统自适应滑模控制
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摘要
针对伺服电机驱动的连铸结晶器振动位移系统中存在时变负载转矩、参数不确定性等问题,本文提出了一种基于扩张状态观测器(extended state observer, ESO)的自适应非奇异终端滑模(nonsingular terminal sliding mode,NTSM)控制方法.首先,设计ESO对系统存在的综合扰动和不可测状态进行估计.然后,采用分层设计的方法,分别对位移跟踪子系统和电流环子系统设计基于ESO的自适应NTSM控制器和滑模控制器.为削弱ESO估计误差对跟踪精度的影响,在NTSM控制器中引入了自适应增益.可以证明,所设计的控制器能够保证闭环系统所有信号有界,系统状态可渐近收敛到原点附近的小邻域内.最后,仿真结果验证了所提出控制方法的有效性.
The adaptive nonsingular terminal sliding mode(NTSM) control algorithm based on an extended state observer(ESO) is proposed for an oscillation displacement system of continuous casting mold driven by servo motor, in which there exists time-varying load torque disturbance, and parameter uncertainties, etc. Firstly, an ESO is constructed to estimate the total disturbance and the unmeasurable state. Secondly, a hierarchical control scheme is adopted, and an ESO-based adaptive NTSM controller and two sliding mode controllers are designed for the position tracking subsystem and current control subsystems, respectively. In order to reduce the effect of the ESO estimation error on the tracking accuracy, an adaptive gain is introduced in the NTSM controller. It can be proved that the all of the signals of the resulting closed-loop system are bounded, and the system states converge to a small neighborhood of the origin asymptotically.Finally, simulation results demonstrate the effectiveness of the proposed method.
The adaptive nonsingular terminal sliding mode(NTSM) control algorithm based on an extended state observer(ESO) is proposed for an oscillation displacement system of continuous casting mold driven by servo motor, in which there exists time-varying load torque disturbance, and parameter uncertainties, etc. Firstly, an ESO is constructed to estimate the total disturbance and the unmeasurable state. Secondly, a hierarchical control scheme is adopted, and an ESO-based adaptive NTSM controller and two sliding mode controllers are designed for the position tracking subsystem and current control subsystems, respectively. In order to reduce the effect of the ESO estimation error on the tracking accuracy, an adaptive gain is introduced in the NTSM controller. It can be proved that the all of the signals of the resulting closed-loop system are bounded, and the system states converge to a small neighborhood of the origin asymptotically.Finally, simulation results demonstrate the effectiveness of the proposed method.
引文
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[13]LI H,DOU L H,SU Z.Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator.International Journal of Systems Science,2013,44(3):401-415.
[14]WANG H,MAN Z,KONG H,et al.Design and implementation of adaptive terminal sliding-mode control on a steer-by-wire equipped road vehicle.IEEE Transactions on Industrial Electronics,2016,63(9):5774-5785.
[15]LI CY,JING W X,GAO C S.Adaptive backstepping-based flight control system using integral filters.Aerospace Science and Technology,2009,13(2/3):105-113.
[16]LI Jie,QI Xiaohui,XIA Yuanqing,et al.On linear/nonlinear active disturbance rejection switching control.Acta Automatica Sinica,2016,42(2):202-212.(李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究.自动化学报,2016,42(2):202-212.)
[17]YU S,YU X,SHIRINZADEH B,et al.Continuous finite-time control for robotic manipulators with terminal sliding mode.Automatica,2005,41(11):1957-1964.
[2]KANG Kesong,LIU Le,FANG Yiming,et al.Backstepping sliding mode control for continuous cast mold oscillation displacement system driven by servo motor.Control Theory&Applications,2016,33(11):1442-1448.(亢克松,刘乐,方一鸣,等.伺服电机驱动的连铸结晶器振动位移系统反步滑模控制.控制理论与应用,2016,33(11):1442-1448.)
[3]QI L,SHI H B.Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control.Neurocomputing,2013,115(8):23-30.
[4]LIU Zhigang,LI Shihua.Active disturbance rejection controller based on permanent magnetic synchronous motor model identification and compensation.Proceedings of the CSEE,2008,28(24):118-123.(刘志刚,李世华.基于永磁同步电机模型辨识与补偿的自抗扰控制器.中国电机工程学报,2008,28(24):118-123.)
[5]HAMIDA M A,GLUMINEAU A,LEON J D.Robust integral backstepping control for sensorless IPM synchronous motor controller.Journal of the Franklin Institute,2012,349(5):1734-1757.
[6]LEU V,CHOI H,JUNG J.Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer.IEEE Transactions on Power Electronics,2012,27(3):1530-1539.
[7]ZHANG Xiaoguang,SUN Li,ZHAO Ke.Sliding mode control of PMSM based on a novel load torque sliding mode observer.Proceedings of the CSEE,2012,32(3):111-117.(张晓光,孙立,赵克.基于负载转矩滑模观测的永磁同步电机滑模控制.中国电机工程学报,2012,32(3):111-117.)
[8]LU X Q,LIN H Y,HAN J L.Load disturbance observer-based control method for sensorless PMSM drive.IET Electric Power Applications,2016,10(8):735-743.
[9]CHEN W H,YANG J,GUO L,et al.Disturbance-observer-based control and related methods-an overview.IEEE Transactions on Industrial Electronics,2016,63(2):1083-1095.
[10]HAN Jingqing.Active Disturbance Rejection Control Technique:the Technique for Estimating and Compensating Uncertainties.Beijing:National Defense Industry Press,2008.(韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术.北京:国防工业出版社,2008.)
[11]MAN Z H,YU X H.Terminal sliding mode control of MIMO linear systems.IEEE Transactions on Circuits&Systems I:Fundamental Theory&Applications,1997,44(11):1065-1070.
[12]FENG Y,YU X,MAN Z.Non-singular terminal sliding mode control of rigid manipulators.Automatica,2002,38(12):2159-2167.
[13]LI H,DOU L H,SU Z.Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator.International Journal of Systems Science,2013,44(3):401-415.
[14]WANG H,MAN Z,KONG H,et al.Design and implementation of adaptive terminal sliding-mode control on a steer-by-wire equipped road vehicle.IEEE Transactions on Industrial Electronics,2016,63(9):5774-5785.
[15]LI CY,JING W X,GAO C S.Adaptive backstepping-based flight control system using integral filters.Aerospace Science and Technology,2009,13(2/3):105-113.
[16]LI Jie,QI Xiaohui,XIA Yuanqing,et al.On linear/nonlinear active disturbance rejection switching control.Acta Automatica Sinica,2016,42(2):202-212.(李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究.自动化学报,2016,42(2):202-212.)
[17]YU S,YU X,SHIRINZADEH B,et al.Continuous finite-time control for robotic manipulators with terminal sliding mode.Automatica,2005,41(11):1957-1964.