Expected position and attitude adjustment control method of coal mine roadway support robot

In view of active power filter’s control is difficult to keep better unity in the dynamic performance and control precision, it puts forward a improved quasi-sliding mode variable structure control algorithm based on repetitive prediction control in HAPFSIC. For the control reference signal is a cycle volume, combined with rapid response of sliding mode variable structure control algorithm and the advantages of a good real-time non-steady-state error of repeated prediction control algorithm, it imports the control volume of repetitive prediction control algorithm as the equivalent control of improved discrete quasi-sliding mode variable structure controller, which makes it has three change state of switching on both sides as well as the within band. The simulation shows that: this new type of compound control method that overcomes the sliding mode variable structure control’s discrepancy regulation, a larger burr of current switch, and also avoids the shortcomings of repeated control’s longer time to reach steady-state, achieves organic combination of two control methods.

In this paper, according to the induction motor in rotating coordinate system mathematical model, established based on rotor flux oriented vector control model and realized flux linkage and torque decoupling. In order to solve the current high coupling, designed the sliding mode variable structure control algorithm of current controller. Based on the sliding mode variable structure control algorithm achievable conditions and Lyapunov stability theorem, proved that the sliding mode of accessibility and stability, determined the sliding model parameters. The simulation results show that the sliding mode variable structure control of induction motor vector control system, can reduce the torque ripple and the speed overshoot and improve the system parameter perturbation and external disturbance signal robustness.

For a system with uncertainties, slide mode variable structure control method is a candidate control method. The well-known control variable chattering is the main obstacle to apply this method to practical system. Integral sliding mode variable structure control (ISMC) algorithm was proposed to solve this problem, however, the integration started at the beginning of the control process led to the degradation of the transient response. In this paper, a ”conditional” integral sliding mode variable structure control (CISMC) is proposed to control two-tank level control system to solve the transient performance degradation caused by the traditional ISMC. In the proposed algorithm, the integrator operates conditionally within the boundary layer. This ”conditional integrator” (CI) design not only guarantees the tracking accuracy with the decreasing chattering, but also improves the transient performance. The tank liquid level control system is usually treated as a paradigm to test the control algorithms. In this paper, four kinds of sliding-mode variable structure control methods is used to control the system to validate the performance. The simulation and experimental results show that the proposed CISMC has the superior performance as compared to the other three methods.

In order to meet the increasing demand of high-performance control in industrial production, a new sliding mode variable structure control algorithm, Asymptotic Sliding Mode Control (ASMC), is designed in this study to solve the serious chattering problem of sliding mode control. Firstly, a traditional sliding mode exponential approximation law control model and a state space and control function are constructed based on sliding mode control. Secondly, by eliminating the jitter factor, ASMC algorithm is combined with sliding mode control to achieve precise control of permanent magnet synchronous motor (PMSM) and improve its performance. The experimental results indicated that in the simulation experiment, the research system tended to stabilize within 0.2-0.3 seconds, and the system chattering was significantly suppressed. And its output was smoother, the jitter amplitude was significantly reduced by 1/3, and the output torque was more stable. In addition, when the parameter H0 changed to 2H0, the overall speed curve did not change much, with only a slight overshoot. The overshoot was only 2.8%, and the change amplitude was maintained at around 25r/min, indicating that the research system had strong self stability performance. In actual experiments, the current command oscillation of the research system was significantly reduced. The local graph showed that the output fluctuation amplitude of the asymptotic approach law actual control was significantly smaller under no-load disturbance. When the H0 changed towards 2H0, the actual adjustment time was about 0.1 seconds, which was consistent with the simulation experiment. Therefore, the contribution of the research is that the ASMC algorithm can suppress the chattering problem of the system and improve the approaching speed, thus improving the speed regulation quality of the system. This new algorithm has great theoretical and practical significance for improving the performance of PMSM, and is practical in the actual vector control system of PMSM.

The Sliding Mode Control about ASR of Vehicle with Four Independently Driven In-Wheel Motors Based on the Exponent Approach Law

A new sliding mode variable structure control algorithm suitable for active magnetic bearing is proposed, which is widely used for nonlinear control system. The model and controller is designed, simulation and experimental parts are also made, according to the switching function and the sliding mode control law. The current of electromagnet is adjusted to realize stable levitation of the rotor. The experimental result shows that the sliding mode variable structure controller is an effective way for magnetic bearing control, and the active magnetic bearing system is a highly nonlinear and advanced control method that can reduce the setting time and the cost.

Proportional control plays a role in stabilizing the system, and sliding mode variable structure control algorithm has strong robustness to external disturbances and the change of system parameters. The sliding mode controller (SMC) with proportional integral switching gain is given in order to weaken the chattering problem of sliding mode variable structure control, and the stability analysis is provided using Lyapunov stability theorem. Simulation of this approach on one joint of robot is carried out. The simulation results of this approach indicate that this approach is effective in reducing chattering and improving the robot's control accuracy and robustness.

Aiming at the problem of vibration suppression of flexible spacecraft and high frequency chattering of sliding mode variable structure control torque, a real-time optimization sliding mode variable structure control algorithm based on the intelligent fuzzy method is proposed. Through designing variable structure control strategy with exponential approach law, the spacecraft attitude control and vibration suppression of flexible appendages are achieved. However, the control torque may present high frequency chattering during the sliding phase, and effect of vibration suppression will be weakened. The intelligent fuzzy control algorithm is used to eliminate chattering by optimizing parameters of the control system. Numerical simulations show that the high frequency chattering of control torque is restrained effectively and vibration suppression can be accomplished with faster convergence.

Based on the sliding mode variable structure control algorithm of double power reaching law, a novel double-power combination reaching law, which has shorter convergence time than the traditional double power reaching law shown by the mathematical calculation, is proposed. To this end, a new course controller is designed based on the novel double-power combination reaching law with the Bech model that can more accurately describe the ship's dynamic performance is selected in order to effectively solve the problem of large buffeting in the sliding mode variable structure control. The design procedure of the new controller is simple and the anti-disturbance ability is stronger. Simulation results show that the novel course controller has a faster convergence rate, better response to external disturbances, improved quality of control and strong robustness.

In order to improve the injection quality and the performance of engine common rail system, on the basis of the measured data in bench tests, quadratic polynomial fitting method is adopted to obtain the differential equations of pressure and speed system for high pressure common rail of diesel engine. This mathematical model belongs to multi-input nonlinear systems of mutually coupled pressure and speed of common rail diesel engine. First, the nonlinear state transformation is performed using flow computation, obtaining the standard state space equations of two decoupled single input. Then, sliding mode variable structure (SMVS) control theory is used to design two sliding mode controllers for single input nonlinear systems, in order to realize the control over the common rail pressure and diesel engine speed. MATLAB/Simulink software simulation platform is then utilized to simulate the designed nonlinear high pressure common rail control system. Finally, the real time simulation of common rail pressure is conducted on a computer through prototype code conversion and Digital Signal Processor (DSP) embedding technology. Results show that the sliding mode variable structure control algorithm has satisfactory control performance over nonlinear systems, solving the problems of traditional Proportional Integral Differential (PID) control that the response is slow, the overshoot is large, and the robustness is weak.

The adaptability of traditional PID, fuzzy PID and feedback linearization sliding mode variable structure control intelligent algorithm to automatic drilling is analyzed. The results show that the feedback linearization sliding mode variable structure control algorithm has more ideal response speed, control accuracy and robustness, which solves the nonlinear problem of the electro-hydraulic control system of the truck-mounted drilling rig and improves the tracking control accuracy of the system during automatic drilling.

ABS and TPMS is a technology measure enhanced automobile active safety performance. Nowadays the ABS system and the TPMS system are mutually independent and ABS system has standard configuration, while TPMS is increasingly increased and rising, so the article proposed a merged thought between the two kind of systems, which is essential to develop automobile electronic control systems integration. Sliding Mode Variable Structure control algorithm used is to realize two kind of functions at the same time, and using SIMULINK tool simulate system feasibly. The simulation results showed that the fusion thought proposed in this article guaranteed to control slipping rate range from 10% to 30% and monitored tire pressure value real-time, which explained system feasibility, and saved cost simultaneously.

Aiming at the problem that the static reactive power generator (SVG) is unstable and the reactive power compensation effect is not obvious when the load is abrupt, a SVG reactive power compensation control method based on sliding mode variable structure internal model control is proposed. The method combines the advantages of sliding mode variable structure control and internal mode control. The sliding mode variable structure control is adopted for the DC side capacitor voltage to ensure the stability of the DC side capacitor voltage during the operation of the SVG. The internal mode control is used to achieve the accurate tracking performance of the signal. The simulation results verify the feasibility and effectiveness of the proposed control method and have certain engineering practicability.

PurposeIn the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory.Design/methodology/approachThrough the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory.FindingsThe robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion.Originality/valueThree-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

This paper discusses an automatic parking control method based on the combination of the sliding mode variable structure control (SMVSC) and fuzzy logical control. SMVSC is applied to drive the vehicle from a random initial position and pose, to the designated parking position and pose. Then, the vehicle is driven from the designated parking position to the target parking slot using the method of fuzzy logical control, whose rules are limited to the range of the effective initial position. To combine SMVSC with the fuzzy logical control, the experimental results demonstrate that effective parking can be guaranteed, even if the initial position is out of the effective parking area of the fuzzy logical control.