Friction Feedforward Compensation Composite Control of Continuous Rotary Motor with Sliding Mode Variable Structure Based on an Improved Power Reaching Law-Reference-Cited by-同舟云学术

Friction Feedforward Compensation Composite Control of Continuous Rotary Motor with Sliding Mode Variable Structure Based on an Improved Power Reaching Law

Published:2023-03-18 Issue:6 Volume:12 Page:1447
ISSN:2079-9292
Container-title:Electronics
language:en
Short-container-title:Electronics

Author:

Wang Xiaojing¹²^ORCID,Bai Bocheng¹²,Feng Yaming³

Affiliation:

1. Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicle, Beijing University of Civil Engineering and Architecture, Beijing 102616, China

2. Beijing Engineering Research Center of Monitoring for Construction Safety, Beijing University of Civil Engineering and Architecture, Beijing 102616, China

3. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China

Abstract

In order to meet the accuracy requirements and tracking performance of continuous rotary electro-hydraulic servo motor system under nonlinear uncertainty and strong disturbance factors, the sliding mode variable structure composite control strategy based on an improved power reaching law is proposed. Based on the principle of valve-controlled hydraulic motor, the state space model of the motor system is established, and a continuous friction model is adopted. Then, the genetic algorithm is used for parameter identification to determine the friction feedforward compensation scheme. In addition, an improved power reaching law is designed, which can adaptively adjust the system chattering according to the system state. The simulation results show that the sliding mode variable structure composite controller with the friction feedforward compensation can achieve a system frequency of 15 Hz, and tracking accuracy and response speed meet the double-decade index requirements, which improve the performance of continuous rotary electro-hydraulic servo motor.

Funder

National Natural Science Foundation of China

Outstanding youth of pyramid talent training project of Beijing University of Civil Engineering and Architecture

2023 Master’s Degree Innovation Project of Beijing University of Civil Engineering and Architecture

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering

Link

https://www.mdpi.com/2079-9292/12/6/1447/pdf

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