吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 2003-2009.doi: 10.13229/j.cnki.jdxbgxb201606033

Previous Articles     Next Articles

High precision adaptive backstepping sliding mode control for electromechanical servo system

LI Bing-qiang, CHEN Xiao-lei, LIN Hui, LYU Shuai-shuai, MA Dong-qi   

  1. School of Automation, Northwestern Polytechnical University, Xi'an 710129, China
  • Received:2015-04-27 Online:2016-11-20 Published:2016-11-20

PDF (PC)

231

Abstract: A mathematical model of Permanent Magnet Synchronous Motor (PMSM) based servo system was established. A log-type barrier function was designed as control Lyapunov function to constrain the angular displacement tracking error in a certain scope. An adaptive update law was designed to estimate the matched uncertainties, and high accuracy control was implemented. Based on the vector control principle, fast terminal sliding modes were designed to ensure that the q-axis and d-axis currents reach the given values in a finite time. Applying the Lyapunov method, it was proved that the variables of the closed loop system are uniformly bounded and the tracking error can converge to a small neighborhood of the origin. The simulation and experiment results demonstrate that, compared with the traditional backstepping control, the robustness and accuracy of the proposed control method are obviously improved.

Key words: automatic control technology, electromechanical actuator, permanent magnet synchronous motor, adaptive control, sliding mode control

CLC Number: 

  • TP273
[1] Lyshevski S E, Skormin V A, Colgren R D. High-torque density integrated electro-mechanical flight actuators[J]. IEEE Transactions on Aerospace and Electronic Systems, 2002,38(1):174-182.
[2] Cho Y, Lee K B, Song J H, et al. Torque-ripple minimization and fast dynamic scheme for torque predictive control of permanent-magnet synchronous motors[J]. IEEE Transactions on Power Electro-nics,2015,30(4):2182-2190.
[3] 黄家才,施昕昕,李宏胜, 等. 永磁同步电机调速系统的分数阶积分滑模控制[J]. 吉林大学学报:工学版,2014,44(6):1736-1742.
Huang Jia-cai, Shi Xin-xin, Li Hong-sheng, et al. Speed control of PMSM using fractural order integral sliding mode controller[J]. Journal of Jilin University(Engineering and Technology Edition),2014,44(6):1736-1742.
[4] Milan R, Zarko C, Dragan L. Intelligent control of DC motor driven electromechanical fin actuator[J]. Control Engineering Practice,2012,20(6):610-617.
[5] Lyshevski S E, Skormin A, Colgren R D. High-torque density integrated electro-mechanical flight actuators[J]. IEEE Transactions on Aerospace and Electronic Systems, 2002,38(1):174-182.
[6] Saeid H, Jeff R, Greg L. Inner-loop control for electromechanical(EMA) flight surface actuation systems[J]. Journal of Dynamic Systems Measurement and Control,2008,130(5):1-13.
[7] 陆豪,李运华,田胜利,等. 驱动大惯量低刚度负载的推力矢量控制电动伺服机构的μ综合鲁棒控制[J]. 机械工程学报,2011,47(2):180-188.
Lu Hao,Li Yun-hua,Tian Sheng-li, et al. μ synthesis robust control of thrust vector control electric servo mechanism driving large inertia and low stiffness load[J]. Chinese Journal of Mechanical Engineering,2011,47(2):180-188.
[8] Zhou J G, Wang Y Y. Real-time nonlinear adaptive backstepping speed control for a PM synchronous motor[J]. Control Engineering Practice,2005,13(10):1259-1269.
[9] Hamida M A, Glumineau A, Leon J. Robust integral backstepping control for sensorless IPM synchronous motor controller[J]. Journal of the Franklin Institute,2012,349(5):1734-1757.
[10] Morawiec M. The adaptive backstepping control of permanent magnet synchronous motor supplied by current source inverter[J]. IEEE Transactions on Industrial Informatics,2013,9(2):1047-1055.
[11] Murat K, Eskikurt H I. Speed and current regulation of a permanent magnet synchronous motor via nonlinear and adaptive backstepping control[J]. Mathematical and Computer Modelling,2011,53(9):2015-2030.
[12] Tee K P, Ge S S, Tay E H. Barrier Lyapunov functions for the control of output-constrained nonlinear systems[J]. Automatica,2009,45(4):918-927.
[13] 朱纪洪,和阳,黄志毅. 舵机特征模型及其故障检测方法[J]. 航空学报,2015,36(2):640-650.
Zhu Ji-hong, He Yang, Huang Zhi-yi. Characteristic model-based approach for actuator fault diagnosis[J]. Acta Aeronautica et Astronautica Sinica,2015,36(2): 640-650.
[14] Qi Liang, Shi Hong-bo. Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control[J]. Neurocomputing, 2013,115(4):23-30.
[15] Swaroop D, Hedrick J K, Yip P P, et al. Dynamic surface control for a class of nonlinear systems[J]. IEEE Transactions on Automatic Control,2000,45(10):1893-1899.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[8] JIA Yi-Fan, CHU Liang, XU Nan, XU Zhe. Winding mode shifting and current control strategy of dual power open-winding PMSM drive system for electric vehicle [J]. 吉林大学学报(工学版), 2018, 48(1): 20-29.
[9] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[10] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[11] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[12] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[13] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[14] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[15] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LIU Song-shan, WANG Qing-nian, WANG Wei-hua, LIN Xin. Influence of inertial mass on damping and amplitude-frequency characteristic of regenerative suspension[J]. 吉林大学学报(工学版), 2013, 43(03): 557 -563 .
[2] CHU Liang, WANG Yan-bo, QI Fu-wei, ZHANG Yong-sheng. Control method of inlet valves for brake pressure fine regulation[J]. 吉林大学学报(工学版), 2013, 43(03): 564 -570 .
[3] LI Jing, WANG Zi-han, YU Chun-xian, HAN Zuo-yue, SUN Bo-hua. Design of control system to follow vehicle state with HIL test beach[J]. 吉林大学学报(工学版), 2013, 43(03): 577 -583 .
[4] HU Xing-jun, LI Teng-fei, WANG Jing-yu, YANG Bo, GUO Peng, LIAO Lei. Numerical simulation of the influence of rear-end panels on the wake flow field of a heavy-duty truck[J]. 吉林大学学报(工学版), 2013, 43(03): 595 -601 .
[5] WANG Tong-jian, CHEN Jin-shi, ZHAO Feng, ZHAO Qing-bo, LIU Xin-hui, YUAN Hua-shan. Mechanical-hydraulic co-simulation and experiment of full hydraulic steering systems[J]. 吉林大学学报(工学版), 2013, 43(03): 607 -612 .
[6] ZHANG Chun-qin, JIANG Gui-yan, WU Zheng-yan. Factors influencing motor vehicle travel departure time choice behavior[J]. 吉林大学学报(工学版), 2013, 43(03): 626 -632 .
[7] MA Wan-jing, XIE Han-zhou. Integrated control of main-signal and pre-signal on approach of intersection with double stop line[J]. 吉林大学学报(工学版), 2013, 43(03): 633 -639 .
[8] YU De-xin, TONG Qian, YANG Zhao-sheng, GAO Peng. Forecast model of emergency traffic evacuation time under major disaster[J]. 吉林大学学报(工学版), 2013, 43(03): 654 -658 .
[9] XIAO Yun, LEI Jun-qing, ZHANG Kun, LI Zhong-san. Fatigue stiffness degradation of prestressed concrete beam under multilevel amplitude cycle loading[J]. 吉林大学学报(工学版), 2013, 43(03): 665 -670 .
[10] XIAO Rui, DENG Zong-cai, LAN Ming-zhang, SHEN Chen-liang. Experiment research on proportions of reactive powder concrete without silica fume[J]. 吉林大学学报(工学版), 2013, 43(03): 671 -676 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd